Sample records for autonomous formation flying

  1. Adaptive Supervisory Engine for Autonomous Formation Flying GNC Project (United States)

    National Aeronautics and Space Administration — Autonomous multiple spacecraft formation flying represents a critical enabling technology for future space missions, including NASA's Space and Earth Science...

  2. Autonomous Supervisory Engine for Multi-Spacecraft Formation Flying Project (United States)

    National Aeronautics and Space Administration — The overall goal of this project is to develop an onboard, autonomous Multi-spacecraft Supervisory Engine (MSE) for formation-flying guidance, navigation and control...

  3. Relative navigation for autonomous formation flying satellites using the state-dependent Riccati equation filter (United States)

    Park, Han-Earl; Kim, Young-Rok


    A relative navigation method for autonomous formation flying using the state-dependent Riccati equation filter (SDREF) is presented. In the SDREF, nonlinear relative dynamics, including J2 perturbation, are parameterized into a state-dependent coefficient (SDC) form without any loss of nonlinearity. The relative navigation algorithm is established based on the carrier-phase differential GPS (CDGPS) and single-frequency GPS data, in which the SDREF is used as a nonlinear estimator. To evaluate the SDREF performance, two different extended Kalman filters (EKFR1 and EKFR2) are introduced. The dynamic models of all the filters are based on relative motion including J2 perturbation. However, the SDREF and the EKFR1 use linear state propagation, whereas EKFR2 employs nonlinear state propagation. The navigation simulation is performed for each filter using live GPS signals simulated by a GPS signal generator, and the result is analyzed in terms of estimation accuracy and computational load. As a result, the SDREF provides a relative navigation solution with 3-D RMS accuracies of 6.0 mm and 0.153 mm/s for position and velocity, respectively, for a separation of 50 km with a computation time of approximately 34 s. The simulation results demonstrate that the SDREF estimates the relative states as rapidly as the EKFR1 and as accurately as the EKFR2, which means that the developed SDREF combines the strong points of EKFR1 and EKFR2 and overcomes their disadvantages.

  4. Implementation of Autonomous GPS Guidance and Control for the Spacecraft Formation Flying%卫星编队飞行GPS自主导航和控制

    Institute of Scientific and Technical Information of China (English)

    邢光谦; 休斯特·帕维斯; 戴维·福奥特


    The general relative orbit dynamics equation and GPS orbit observational equation onboard for spacecraft formation flying have been developed. The approach to the implementation of the autonomous ac-quisition control and autonomous maintenance control for formation flying using GPS code pseudoranges in-formation are presented. As a practical application of the models and method provided in this paper, the maintenance control of the Earth-Orbiter 1(EO-1)/Landsat 7 formation flying are designed and implemented by means of the discrete-time linear optimal output feedback control. For the actuator of the on/off type re-action jets, the implementation problem of the pulse-amplitude modulation is also studied. Simulation results of autonomous maintenance optimal output feedback control for 3-dimeusion orbit initial error status are shown. These simulation results certified the feasibility of the implementation of the autonomous maintenance control for EO-1/Landsat 7 formation flying by means of the discrete-time linear optimal output feedback control.%本文提出了一般相对轨道动力学方程和用于编队飞行的GPS星栽自主导航模型和算法.同时文章也提出了用GPS伪距测量信息实现卫星编队飞行的建立和保持的自主导航控制方法.其中包括用于编队飞行建立的非线性控制律和用于编队飞行保持的线性控制律.以及相应的估计器的算法.作为这些方法的一个实际应用,文章给出了EO-1/Lantlsat 7编队飞行的自主导航控制系统的设计和实现.一般情况下最优控制律的实现是需要变推力发动机的,在没有变推力发动机的情况下,本文特别给出并验证了用冲量等价的方法实现变推力发动机替代的可行性.上述设计已经过数字仿真的验证,证实了设计的正确性和实现的可行性.

  5. A novel autonomous self-assembly distributed swarm flying robot

    Institute of Scientific and Technical Information of China (English)

    Wei Hongxing; Li Ning; Liu Miao; Tan Jindong


    Swarm intelligence embodied by many species such as ants and bees has inspired scholars in swarm robotic researches.This paper presents a novel autonomous self-assembly distributed swarm flying robot-DSFR,which can drive on the ground,autonomously accomplish self-assembly and then fly in the air coordinately.Mechanical and electrical designs ofa DSFR module,as well as the kinematics and dynamics analysis,are specifically investigated.Meanwhile,this paper brings forward a generalized adjacency matrix to describe configurations of DSFR structures.Also,the distributed flight control model is established for vertical taking-off and horizontal hovering,which can be applied to control of DSFR systems with arbitrary configurations.Finally,some experiments are carried out to testify and validate the DSFR design,the autonomous self-assembly strategy and the distributed flight control laws.

  6. PRISMA—A formation flying project in implementation phase (United States)

    Persson, Staffan; Veldman, Sytze; Bodin, Per


    The PRISMA project for autonomous formation flying and rendezvous has passed its critical design review in February-March 2007. The project comprises two satellites which are an in-orbit testbed for Guidance, Navigation and Control (GNC) algorithms and sensors for advanced formation flying and rendezvous. Several experiments involving GNC algorithms, sensors and thrusters will be performed during a 10 month mission with launch planned for the second half of 2009. The project is run by the Swedish Space Corporation (SSC) in close cooperation with the German Aerospace Center (DLR), the French Space Agency (CNES) and the Technical University of Denmark (DTU). Additionally, the project also will demonstrate flight worthiness of two novel motor technologies: one that uses environmentally clean and non-hazardous propellant, and one that consists of a microthruster system based on MEMS technology. The project will demonstrate autonomous formation flying and rendezvous based on several sensors—GPS, RF-based and vision based—with different objectives and in different combinations. The GPS-based onboard navigation system, contributed by DLR, offers relative orbit information in real-time in decimetre range. The RF-based navigation instrument intended for DARWIN, under CNES development, will be tested for the first time on PRISMA, both for instrument performance, but also in closed loop as main sensor for formation flying. Several rendezvous and proximity manoeuvre experiments will be demonstrated using only vision based sensor information coming from the modified star camera provided by DTU. Semi-autonomous operations ranging from 200 km to 1 m separation between the satellites will be demonstrated. With the project now in the verification phase particular attention is given to the specific formation flying and rendezvous functionality on instrument, GNC-software and system level.

  7. PROBA-3: Precise formation flying demonstration mission (United States)

    Llorente, J. S.; Agenjo, A.; Carrascosa, C.; de Negueruela, C.; Mestreau-Garreau, A.; Cropp, A.; Santovincenzo, A.


    Formation Flying (FF) has generated a strong interest in many space applications, most of them involving a significant complexity for building for example on-board large "virtual structures or distributed observatories". The implementation of these complex formation flying missions with critical dependency on this new, advanced and critical formation technology requires a thorough verification of the system behaviour in order to provide enough guarantees for the target mission success. A significant number of conceptual or preliminary designs, analyses, simulations, and HW on-ground testing have been performed during the last years, but still the limitations of the ground verification determine that enough confidence of the behaviour of the formation flying mission will only be possible by demonstration in flight of the concept and the associated technologies. PROBA-3 is the mission under development at ESA for in-flight formation flying demonstration, dedicated to obtain that confidence and the necessary flight maturity level in the formation flying technologies for those future target missions. PROBA-3 will demonstrate technologies such as formation metrology sensors (from very coarse to highest accuracy), formation control and GNC, system operability, safety, etc. During the last years, PROBA-3 has evolved from the initial CDF study at ESA, to two parallel phase A studies, followed by a change in the industrial configuration for the Bridging step between A and B phases. Currently the SRR consolidation has been completed, and the project is in the middle of the phase B. After the phase A study SENER and GMV were responsible for the Formation Flying System, within a mission core team completed by OHB-Sweden, QinetiQ Space and CASA Espacio. In this paper an overview of the PROBA-3 mission is provided, with a more detailed description of the formation flying preliminary design and results.

  8. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús


    This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot performan

  9. Formation flying; an interview with Tobias Gutleb

    NARCIS (Netherlands)

    Gutleb, T.; Perenboom, T.


    One of last year's Desig Synthesis Exercise (DSE) groups dived into the concept of fuel saving by letting aircraft flying in formation. They took their project even a step further and applied for the National Aviation Prize, a contest which encourages innovation in aerospace applications. The prize

  10. Spacecraft formation flying: Dynamics, control and navigation (United States)

    Alfriend, Kyle Terry; Vadali, Srinivas Rao; Gurfil, Pini; How, Jonathan; Breger, Louis S.


    Space agencies are now realizing that much of what has previously been achieved using hugely complex and costly single platform projects - large unmanned and manned satellites (including the present International Space Station) - can be replaced by a number of smaller satellites networked together. The key challenge of this approach, namely ensuring the proper formation flying of multiple craft, is the topic of this second volume in Elsevier's Astrodynamics Series, Spacecraft Formation Flying: Dynamics, control and navigation. In this unique text, authors Alfriend et al. provide a coherent discussion of spacecraft relative motion, both in the unperturbed and perturbed settings, explain the main control approaches for regulating relative satellite dynamics, using both impulsive and continuous maneuvers, and present the main constituents required for relative navigation. The early chapters provide a foundation upon which later discussions are built, making this a complete, standalone offering. Intended for graduate students, professors and academic researchers in the fields of aerospace and mechanical engineering, mathematics, astronomy and astrophysics, Spacecraft Formation Flying is a technical yet accessible, forward-thinking guide to this critical area of astrodynamics.

  11. Autonomous Formations of Multi-Agent Systems (United States)

    Dhali, Sanjana; Joshi, Suresh M.


    Autonomous formation control of multi-agent dynamic systems has a number of applications that include ground-based and aerial robots and satellite formations. For air vehicles, formation flight ("flocking") has the potential to significantly increase airspace utilization as well as fuel efficiency. This presentation addresses two main problems in multi-agent formations: optimal role assignment to minimize the total cost (e.g., combined distance traveled by all agents); and maintaining formation geometry during flock motion. The Kuhn-Munkres ("Hungarian") algorithm is used for optimal assignment, and consensus-based leader-follower type control architecture is used to maintain formation shape despite the leader s independent movements. The methods are demonstrated by animated simulations.

  12. Dynamic formation control for autonomous underwater vehicles

    Institute of Scientific and Technical Information of China (English)

    燕雪峰; 古锋; 宋琛; 胡晓琳; 潘毅


    Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles (AUVs) to collaborate with each other. In this work, a dynamic formation model was proposed, in which several algorithms were developed for the complex underwater environment. Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes. Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles. Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation. The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated. Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness, even with a concave obstacle. It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.

  13. Enabling Spacecraft Formation Flying in Any Earth Orbit Through Spaceborne GPS and Enhanced Autonomy Technologies (United States)

    Bauer, F. H.; Bristow, J. O.; Carpenter, J. R.; Garrison, J. L.; Hartman, K. R.; Lee, T.; Long, A. C.; Kelbel, D.; Lu, V.; How, J. P.; Busse, F.


    Formation flying is quickly revolutionizing the way the space community conducts autonomous science missions around the Earth and in space. This technological revolution will provide new, innovative ways for this community to gather scientific information, share this information between space vehicles and the ground, and expedite the human exploration of space. Once fully matured, this technology will result in swarms of space vehicles flying as a virtual platform and gathering significantly more and better science data than is possible today. Formation flying will be enabled through the development and deployment of spaceborne differential Global Positioning System (GPS) technology and through innovative spacecraft autonomy techniques, This paper provides an overview of the current status of NASA/DoD/Industry/University partnership to bring formation flying technology to the forefront as quickly as possible, the hurdles that need to be overcome to achieve the formation flying vision, and the team's approach to transfer this technology to space. It will also describe some of the formation flying testbeds, such as Orion, that are being developed to demonstrate and validate these innovative GPS sensing and formation control technologies.

  14. Formation Flying Spacecraft Concept for Heliophysics Applications (United States)

    Novo-Gradac, Anne-Marie; Davila, Joseph; Yang, Guangning; Lu, Wei; Shah, Neerav; Li, Steven X.


    A number of space-based heliophysics instruments would benefit from formation flying spacecraft. An occulter or a focusing optic such as a photon sieve could be mounted on a separate spacecraft rather than at the end of a boom. This would enable science measurements to be made on smaller, less expensive spacecraft. To accomplish this goal, the relative position of the spacecraft must be monitored and controlled to high precision. We describe two separate optical sensing systems that monitor relative position of the spacecraft to the level required for a photon sieve mission concept wherein the photon sieve is mounted on one spacecraft while the imaging detector is mounted on another. The first system employs a novel time of flight measurement of a laser beam that includes imbedded optical data packets. The contents of the returning data packet can be compared to the departing data packet to provide an extremely high resolution distance measurement. Employing three such systems allows measurement of pitch and yaw in addition to longitudinal separation. The second optical system monitors lateral motion. A mildy divergent laser beam is transmitted from one spacecraft to a sensor array on the second spacecraft. Monitoring the position of the brightest portion of the beam on the sensor array provides a direct measurement of lateral relative motion. Employing at least two such systems enables monitoring roll of the spacecraft as well as centration. We will also discuss low force thruster systems required for high precision station keeping.

  15. Satellite formation flying relative dynamics, formation design, fuel optimal maneuvers and formation maintenance

    CERN Document Server

    Wang, Danwei; Poh, Eng Kee


    This book systematically describes the concepts and principles for multi-satellite relative motion, passive and near passive formation designs, trajectory planning and control for fuel optimal formation maneuvers, and formation flying maintenance control design. As such, it provides a sound foundation for researchers and engineers in this field to develop further theories and pursue their implementations. Though satellite formation flying is widely considered to be a major advance in space technology, there are few systematic treatments of the topic in the literature. Addressing that gap, the book offers a valuable resource for academics, researchers, postgraduate students and practitioners in the field of satellite science and engineering.

  16. GVE-Based Dynamics and Control for Formation Flying Spacecraft (United States)

    Breger, Louis; How, Jonathan P.


    Formation flying is an enabling technology for many future space missions. This paper presents extensions to the equations of relative motion expressed in Keplerian orbital elements, including new initialization techniques for general formation configurations. A new linear time-varying form of the equations of relative motion is developed from Gauss Variational Equations and used in a model predictive controller. The linearizing assumptions for these equations are shown to be consistent with typical formation flying scenarios. Several linear, convex initialization techniques are presented, as well as a general, decentralized method for coordinating a tetrahedral formation using differential orbital elements. Control methods are validated using a commercial numerical propagator.

  17. Hardware-in-the-Loop Simulation for Spacecraft Formation Flying

    Directory of Open Access Journals (Sweden)

    Jinjun Shan


    Full Text Available This paper presents a hardware-in-the-loop (HITL simulation approach for multiple spacecraft formation flying. Considering a leader-follower formation flying configuration, a Fuzzy Logic controller is developed first to maintain the desired formation shape under external perturbations and the initial position offsets. Cold-gas on/off thrusters are developed to be introduced to the simulation loop, and the HITL simulations are conducted to validate the effectiveness of the proposed simulation configuration and Fuzzy Logic control.

  18. Conceptual Design of the FAST-D Formation Flying Spacecraft

    NARCIS (Netherlands)

    Maessen, D.C.; Guo, J.; Gill, E.; Gunter, B.; Chu, Q.P.; Bakker, G.; Laan, E.; Moon, S.; Kruijff, M.; Zheng, G.T.


    The paper presents the latest results in the design of FAST-D, the Dutch micro-satellite for the Dutch–Chinese FAST (Formation for Atmospheric Science and Technology demonstration) formation flying mission. Over the course of the 2.5 year mission, the two satellites, FAST-D and FAST-T, will demonstr

  19. Safety management of formation flying in an aerobatic team

    Directory of Open Access Journals (Sweden)

    Róbert ROZENBERG


    Full Text Available The article is focused on explaining the notion of safety from the aspect of generally applicable standards established by the ICAO. It describes the role of human factor played by the pilot´s personality in an aerobatic team by way of determining the individual traits of team members as pre–requisites of mastering formation flying.

  20. Precise Relative Positioning of Formation Flying Spacecraft using GPS

    NARCIS (Netherlands)

    Kroes, R.


    Spacecraft formation flying is considered as a key technology for advanced space missions. Compared to large individual spacecraft, the distribution of sensor systems amongst multiple platforms offers improved flexibility, shorter times to mission, and the prospect of being more cost effective. Besi

  1. Autonomous attitude coordinated control for spacecraft formation with input constraint, model uncertainties, and external disturbances

    Institute of Scientific and Technical Information of China (English)

    Zheng Zhong; Song Shenmin


    To synchronize the attitude of a spacecraft formation flying system, three novel auton-omous control schemes are proposed to deal with the issue in this paper. The first one is an ideal autonomous attitude coordinated controller, which is applied to address the case with certain mod-els and no disturbance. The second one is a robust adaptive attitude coordinated controller, which aims to tackle the case with external disturbances and model uncertainties. The last one is a filtered robust adaptive attitude coordinated controller, which is used to overcome the case with input con-straint, model uncertainties, and external disturbances. The above three controllers do not need any external tracking signal and only require angular velocity and relative orientation between a space-craft and its neighbors. Besides, the relative information is represented in the body frame of each spacecraft. The controllers are proved to be able to result in asymptotical stability almost every-where. Numerical simulation results show that the proposed three approaches are effective for atti-tude coordination in a spacecraft formation flying system.

  2. Adaptive Leader-Follower Formation Control for Autonomous Mobile Robots

    NARCIS (Netherlands)

    Guo, Jing; Lin, Zhiyun; Cao, Ming; Yan, Gangfeng


    In this paper, adaptive formation control is addressed for a network of autonomous mobile robots in which there are only two leaders knowing the prescribed reference velocity while the others just play the role of followers. Assuming that each follower has only two neighbors to form a cascade interc

  3. Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots


    Defoort, Michael; Floquet, Thierry; Kökösy, Annemarie; Perruquetti, Wilfrid


    International audience; This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables for...

  4. Flight-like ground demonstration of precision formation flying spacecraft (United States)

    Scharf, Daniel P.; Hadaegh, Fred Y.; Keim, Jason A.; Benowitz, Edward G.; Lawson, Peter R.


    Initial high-fidelity, flight-like ground demonstrations of precision formation flying spacecraft are presented. In these demonstrations, maneuvers required for distributed spacecraft interferometry, such as for the Terrestrial Planet Finder Interferometer, were performed to near-flight precision. Synchronized formation rotations for "on-the-fly" observations require the highest precision. For this maneuver, ground demonstration performance requirements are 5 cm in relative position and 6 arc minutes in attitude. These requirements have been met for initial demonstrations of formation-keeping and synchronized formation rotations. The maneuvers were demonstrated in the Formation Control Testbed (FCT). The FCT currently consists of two, five degree-of-freedom, air bearing-levitated robots. The final sixth degree-of-freedom is being added in August 2007. Each robot has a suite of flight-like avionics and actuators, including a star tracker, fiber-optic gyroscopes, reaction wheels, cold-gas thrusters, inter-robot communication, and on-board computers that run the Formation and Attitude Control System (FACS) software. The FCT robots and testbed environment are described in detail. Then several initial demonstrations results are presented, including (i) a sub-millimeter formation sensor, (ii) an algorithm for synchronizing control cycles across multiple vehicles, (iii) formation keeping, (iv) reactive collision avoidance, and (iv) synchronized formation rotations.

  5. Formation flying in elliptic orbits with the J2 perturbation

    Institute of Scientific and Technical Information of China (English)

    Xi-Yun Hou; Yu-Hui Zhao; Lin Liu


    Relative dynamics between the chief satellite and the deputy ones in formation flying is crucial to maintaining the formation.A good choice of the formation usually requires a lower control frequency or less control energy.For formation flying missions in highly elliptic orbits,the well-known C-W equation is not accurate enough.Instead,Lawden's equation is often used.First,the solution to Lawden's equation with a very simple form is deduced.Then the J2 perturbation is added.It is found that Lawden's solution is not necessarily valid when the J2 perturbation is considered.Completely discarding Lawden's solution and borrowing the idea of mean orbit elements,two rules to initialize the formation are proposed.The deviation speed is greatly reduced.Different from previous studies on the J2 perturbation,except for the relatively simple expression for the semi-major axis,the tedious formulae of the long period terms and the short period terms of other orbital elements are not used.In addition,the deviation speed is further reduced by compensation of the nonlinear effects.Finally,a loose control strategy of the formation is proposed.To test the robustness of this strategy,a third body perturbation is added in numerical simulations.

  6. Tight formation flying for an along-track SAR interferometer (United States)

    Gill, Eberhard; Runge, Hartmut


    While space-borne synthetic aperture radar (SAR) has evolved into a mature technology over the past two decades, there is a growing interest in interferometric SAR applications. Especially along-track interferometry with its capability to resolve the velocity of on-ground objects and ocean currents is of high interest for scientific applications. The accuracy of the resolved velocity on ground scales directly with the along-track separation between adjacent SAR antennas. Since space vehicles are quite limited in size, a formation flying approach with two SAR instruments distributed onto two spacecraft thus appears to be an innovative approach to along-track SAR interferometry. In the framework of an ESA study, this paper discusses the potential benefits, drawbacks and problems associated with a close formation flight for an along-track interferometry SAR mission. To this end, the absolute and relative orbit reconstruction requirements for the SAR processing chain are derived from basic interferometric principles as well as appropriate baselines of the satellite formation in L-Band and X-Band. A discussion of potential space-borne navigation sensors is presented along with the accuracy of state-of-the-art relative orbit reconstruction. Finally, appropriate thrusters for formation acquisition and control are discussed together with approaches to formation flying guidance and control as well as fuel consumption.

  7. Geometric Analysis of the Formation Problem for Autonomous Robots

    CERN Document Server

    Dorfler, Florian


    In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center manifold theory or via a Lyapunov-based approach. It is well known that there are various other undesired invariant sets of the robots' closed-loop dynamics. This paper addresses a global stability analysis by a differential geometric approach considering invariant manifolds and their local stability properties. The theoretical results are then applied to the well-known example of a cyclic triangular formation and result in instability of all invariant sets other than the target formation.

  8. Navigation strategies for multiple autonomous mobile robots moving in formation (United States)

    Wang, P. K. C.


    The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

  9. Orbit and attitude control of spacecraft formation flying

    Institute of Scientific and Technical Information of China (English)

    ZHANG Zhi-guo; LI Jun-feng


    Formation flying is a novel concept of distributing the flmctionality of large spacecraft among several smaller, less expensive, cooperative satellites. Some applica-tions require that a controllable satellite keeps relative position and attitude to observe a specific surface of another satellite among the cluster. Specially, the target space vehi- cle is malfunctioning. The present paper focuses on the problem that how to control a chaser satellite to fly around an out-of-work target satellite closely in earth orbit and to track a specific surface. Relative attitude and first approximate relative orbital dynamics equations are presented. Control strategy is derived based on feedback linearization and Lyapunov theory of stability. Further, considering the uncertainty of inertia, an adaptive control method is developed to obtain the correct inertial ratio. The numerical simulation is given to verify the validity of proposed control scheme.

  10. The Precision Formation Flying Integrated Analysis Tool (PFFIAT) (United States)

    Stoneking, Eric; Lyon, Richard G.; Sears, Edie; Lu, Victor


    Several space missions presently in the concept phase (e.g. Stellar Imager, Submillimeter Probe of Evolutionary Cosmic Structure, Terrestrial Planet Finder) plan to use multiple spacecraft flying in precise formation to synthesize unprecedently large aperture optical systems. These architectures present challenges to the attitude and position determination and control system; optical performance is directly coupled to spacecraft pointing with typical control requirements being on the scale of milliarcseconds and nanometers. To investigate control strategies, rejection of environmental disturbances, and sensor and actuator requirements, a capability is needed to model both the dynamical and optical behavior of such a distributed telescope system. This paper describes work ongoing at NASA Goddard Space Flight Center toward the integration of a set of optical analysis tools (Optical System Characterization and Analysis Research software, or OSCAR) with the Formation Flying Test Bed (FFTB). The resulting system is called the Precision Formation Flying Integrated Analysis Tool (PFFIAT), and it provides the capability to simulate closed-loop control of optical systems composed of elements mounted on multiple spacecraft. The attitude and translation spacecraft dynamics are simulated in the FFTB, including effects of the space environment (e.g. solar radiation pressure, differential orbital motion). The resulting optical configuration is then processed by OSCAR to determine an optical image. From this image, wavefront sensing (e.g. phase retrieval) techniques are being developed to derive attitude and position errors. These error signals will be fed back to the spacecraft control systems, completing the control loop. A simple case study is presented to demonstrate the present capabilities of the tool.

  11. Study on relative orbital configuration in satellite formation flying

    Institute of Scientific and Technical Information of China (English)

    Junfeng Li; Xin Meng; Yunfeng Gao; Xiang Li


    In this paper, the relative orbital configurations of satellites in formation flying with non-perturbation and J2 perturbation are studied, and an orbital elements method is proposed to obtain the relative orbital configurations of satellites in formation. Firstly, under the condition of nonperturbation, we obtain many shapes of relative orbital configurations when the semi-major axes of satellites are equal.These shapes can be lines, ellipses or distorted closed curves.Secondly, on the basis of the analysis of J2 effect on relative orbital configurations, we find out that J2 effect can induce two kinds of changes of relative orbital configurations. They are distortion and drifting, respectively. In addition, when J2perturbation is concerned, we also find that the semi-major axes of the leading and following satellites should not be the same exactly in order to decrease the J2 effect. The relationship of relative orbital elements and J2 effect is obtained through simulations. Finally, the minimum relation perturbation conditions are established in order to reduce the influence of the J2 effect. The results show that the minimum relation perturbation conditions can reduce the J2 effect significantly when the orbital element differences are small enough, and they can become rules for the design of satellite formation flying.

  12. FliO Regulation of FliP in the Formation of the Salmonella enterica Flagellum


    Barker, Clive S.; Meshcheryakova, Irina V.; Kostyukova, Alla S.; Samatey, Fadel A.


    The type III secretion system of the Salmonella flagellum consists of 6 integral membrane proteins: FlhA, FlhB, FliO, FliP, FliQ, and FliR. However, in some other type III secretion systems, a homologue of FliO is apparently absent, suggesting it has a specialized role. Deleting the fliO gene from the chromosome of a motile strain of Salmonella resulted in a drastic decrease of motility. Incubation of the ΔfliO mutant strain in motility agar, gave rise to pseudorevertants containing extrageni...

  13. Adjustably Autonomous Multi-agent Plan Execution with an Internal Spacecraft Free-Flying Robot Prototype (United States)

    Dorais, Gregory A.; Nicewarner, Keith


    We present an multi-agent model-based autonomy architecture with monitoring, planning, diagnosis, and execution elements. We discuss an internal spacecraft free-flying robot prototype controlled by an implementation of this architecture and a ground test facility used for development. In addition, we discuss a simplified environment control life support system for the spacecraft domain also controlled by an implementation of this architecture. We discuss adjustable autonomy and how it applies to this architecture. We describe an interface that provides the user situation awareness of both autonomous systems and enables the user to dynamically edit the plans prior to and during execution as well as control these agents at various levels of autonomy. This interface also permits the agents to query the user or request the user to perform tasks to help achieve the commanded goals. We conclude by describing a scenario where these two agents and a human interact to cooperatively detect, diagnose and recover from a simulated spacecraft fault.

  14. Ultra-miniature omni-directional camera for an autonomous flying micro-robot (United States)

    Ferrat, Pascal; Gimkiewicz, Christiane; Neukom, Simon; Zha, Yingyun; Brenzikofer, Alain; Baechler, Thomas


    CSEM presents a highly integrated ultra-miniature camera module with omni-directional view dedicated to autonomous micro flying devices. Very tight design and integration requirements (related to size, weight, and power consumption) for the optical, microelectronic and electronic components are fulfilled. The presented ultra-miniature camera platform is based on two major components: a catadioptric lens system and a dedicated image sensor. The optical system consists of a hyperbolic mirror and an imaging lens. The vertical field of view is +10° to -35°.The CMOS image sensor provides a polar pixel field with 128 (horizontal) by 64 (vertical) pixels. Since the number of pixels for each circle is constant, the unwrapped panoramic image achieves a constant resolution in polar direction for all image regions. The whole camera module, delivering 40 frames per second, contains optical image preprocessing for effortless re-mapping of the acquired image into undistorted cylindrical coordinates. The total weight of the complete camera is less than 5 g. The system's outer dimensions are 14.4 mm in height, with a 11.4 mm x 11.4 mm foot print. Thanks to the innovative PROGLOGTM, a dynamic range of over 140 dB is achieved.

  15. FliO Regulation of FliP in the Formation of the Salmonella enterica Flagellum (United States)

    Barker, Clive S.; Meshcheryakova, Irina V.; Kostyukova, Alla S.; Samatey, Fadel A.


    The type III secretion system of the Salmonella flagellum consists of 6 integral membrane proteins: FlhA, FlhB, FliO, FliP, FliQ, and FliR. However, in some other type III secretion systems, a homologue of FliO is apparently absent, suggesting it has a specialized role. Deleting the fliO gene from the chromosome of a motile strain of Salmonella resulted in a drastic decrease of motility. Incubation of the ΔfliO mutant strain in motility agar, gave rise to pseudorevertants containing extragenic bypass mutations in FliP at positions R143H or F190L. Using membrane topology prediction programs, and alkaline phosphatase or GFPuv chimeric protein fusions into the FliO protein, we demonstrated that FliO is bitopic with its N-terminus in the periplasm and C-terminus in the cytoplasm. Truncation analysis of FliO demonstrated that overexpression of FliO43–125 or FliO1–95 was able to rescue motility of the ΔfliO mutant. Further, residue leucine 91 in the cytoplasmic domain was identified to be important for function. Based on secondary structure prediction, the cytoplasmic domain, FliO43–125, should contain beta-structure and alpha-helices. FliO43–125-Ala was purified and studied using circular dichroism spectroscopy; however, this domain was disordered, and its structure was a mixture of beta-sheet and random coil. Coexpression of full-length FliO with FliP increased expression levels of FliP, but coexpression with the cytoplasmic domain of FliO did not enhance FliP expression levels. Overexpression of the cytoplasmic domain of FliO further rescued motility of strains deleted for the fliO gene expressing bypass mutations in FliP. These results suggest FliO maintains FliP stability through transmembrane domain interaction. The results also demonstrate that the cytoplasmic domain of FliO has functionality, and it presumably becomes structured while interacting with its binding partners. PMID:20941389

  16. FliO regulation of FliP in the formation of the Salmonella enterica flagellum.

    Directory of Open Access Journals (Sweden)

    Clive S Barker


    Full Text Available The type III secretion system of the Salmonella flagellum consists of 6 integral membrane proteins: FlhA, FlhB, FliO, FliP, FliQ, and FliR. However, in some other type III secretion systems, a homologue of FliO is apparently absent, suggesting it has a specialized role. Deleting the fliO gene from the chromosome of a motile strain of Salmonella resulted in a drastic decrease of motility. Incubation of the ΔfliO mutant strain in motility agar, gave rise to pseudorevertants containing extragenic bypass mutations in FliP at positions R143H or F190L. Using membrane topology prediction programs, and alkaline phosphatase or GFPuv chimeric protein fusions into the FliO protein, we demonstrated that FliO is bitopic with its N-terminus in the periplasm and C-terminus in the cytoplasm. Truncation analysis of FliO demonstrated that overexpression of FliO₄₃-₁₂₅ or FliO₁-₉₅ was able to rescue motility of the ΔfliO mutant. Further, residue leucine 91 in the cytoplasmic domain was identified to be important for function. Based on secondary structure prediction, the cytoplasmic domain, FliO₄₃-₁₂₅, should contain beta-structure and alpha-helices. FliO₄₃-₁₂₅-Ala was purified and studied using circular dichroism spectroscopy; however, this domain was disordered, and its structure was a mixture of beta-sheet and random coil. Coexpression of full-length FliO with FliP increased expression levels of FliP, but coexpression with the cytoplasmic domain of FliO did not enhance FliP expression levels. Overexpression of the cytoplasmic domain of FliO further rescued motility of strains deleted for the fliO gene expressing bypass mutations in FliP. These results suggest FliO maintains FliP stability through transmembrane domain interaction. The results also demonstrate that the cytoplasmic domain of FliO has functionality, and it presumably becomes structured while interacting with its binding partners.

  17. Bounded relative orbits about asteroids for formation flying and applications (United States)

    Baresi, Nicola; Scheeres, Daniel J.; Schaub, Hanspeter


    The relative motion about 4179 Toutatis is studied in order to investigate the feasibility of formation flying as an alternative concept for future asteroid exploration missions. In particular, the existence of quasi-frozen orbits about slowly rotating bodies allows us to compute families of periodic orbits in the body-fixed frame of the asteroid. Since these periodic orbits are of the center×center type, quasi-periodic invariant tori are calculated via fully numerical procedures and used to initialize spacecraft formations about the central body. Numerical simulations show that the resulting in-plane and out-of-plane relative trajectories remain bounded over long time spans; i.e., more than 30 days.

  18. Formation flying orbit design for the distributed synthetic aperture radar satellite

    Institute of Scientific and Technical Information of China (English)

    CHEN Jie; ZHOU Yinqing; LI Chunsheng


    Formation flying orbit design is one of the key technologies for system design and performance analysis of the distributed SAR satellites. The approximately analytic solution of the passive stable formation flying orbit elements is explored based on the expansion form of Kepler's equation. A new method of orbital parameters design for three-dimensional formation flying SAR satellites is presented, and the precision of the orbital elements is analyzed. Formation flying orbit elements are calculated for the L-Band distributed SAR satellites using the formulas deduced in this paper. The accuracy of the orbital elements is validated by the computer simulation results presented in this paper.

  19. Formation flying for a Fresnel lens observatory mission

    CERN Document Server

    Krizmanic, J; Gehrels, N; Krizmanic, John; Skinner, Gerry; Gehrels, Neil


    The employment of a large area Phase Fresnel Lens (PFL) in a gamma-ray telescope offers the potential to image astrophysical phenomena with micro-arcsecond angular resolution. In order to assess the feasibility of this concept, two detailed studies have been conducted of formation flying missions in which a Fresnel lens capable of focussing gamma-rays and the associated detector are carried on two spacecraft separated by up to 10$^6$ km. These studies were performed at the NASA Goddard Space Flight Center Integrated Mission Design Center (IMDC) which developed spacecraft, orbital dynamics, and mission profiles. The results of the studies indicated that the missions are challenging but could be accomplished with technologies available currently or in the near term. The findings of the original studies have been updated taking account of recent advances in ion thruster propulsion technology.

  20. Topology Control Algorithms for Spacecraft Formation Flying Networks Under Connectivity and Time-Delay Constraints Project (United States)

    National Aeronautics and Space Administration — SSCI is proposing to develop a set of topology control algorithms for a formation flying spacecraft that can be used to design and evaluate candidate formation...


    Institute of Scientific and Technical Information of China (English)

    高云峰; 宝音贺西; 李俊峰


    Recently, the research of dynamics and control of the satellite formation flying has been attracting a great deal of attentions of the researchers. The theory of the research was mainly based on Clohessy-Wiltshire's (C-W's) equations, which describe the relative motion between two satellites. But according to some special examples and qualitative analysis, neither the initial parameters nor the period of the solution of C-W' s equations accord with the actual situation, and the conservation of energy is no longer held. A new method developed from orbital element description of single satellite, named relative orbital element method ( ROEM), was introduced. This new method, with clear physics conception and wide application range, overcomes the limitation of C-W's equation, and the perio dic solution is a natural conclusion. The simplified equation of the relative motion is obtained when the eccentricity of the main satellite is small. Finally,the results of the two methods ( C-W' s equation and ROEM) are compared and the limitations of C-W' s equations are pointed out and explained.

  2. Terahertz-based relative positioning of aircraft flying in formation (United States)

    Parker, John Scott

    This thesis introduces a new method for estimating the relative positions of aircraft flying in formation using terahertz frequency (THz) signals. We look specifically at the military precision airdrop application, where THz signals have two advantages: (1) stealth due to preferential propagation in the horizontal direction at high altitudes and (2) robustness for operations in GPS-denied environments. This thesis presents two system concepts for implementation. The first, dubbed the straight-and-level (SAL) architecture, produces high precision position estimates during straight and level flight, but suffers from systematic biases when the receiving aircraft performs a maneuver. In support of this architecture, we published the first ever paper on THz relative positioning, and introduced a new filtering method inspired by the well-known GPS Hatch Filter. The second, dubbed the refined-for-maneuvers (RFM) architecture, produces position estimates that are less precise than the SAL architecture, but have no systematic bias when the aircraft maneuver. Simulations are used to predict the performance of the architectures.

  3. Simultaneous ISAR imaging of group targets flying in formation

    Institute of Scientific and Technical Information of China (English)

    Chen Jie; Xiao Huaitie; Song Zhiyong; Fan Hongqi


    This paper proposes a novel inverse synthetic aperture radar (ISAR) imaging method based on second-order keystone transform (KT) and Sandglass transform for group targets flying in a formation with constant accelerated rectilinear motion in the same radar beam. First, range cur-vature and range walk of each sub-target among group targets are corrected by the second-order KT combined with the quadratic phase term compensation. After range alignment, the signals in each range frequency cell can be modelled as multiple chirp signals and then the Sandglass transform is uti-lized to cross-range imaging, which transforms the time–frequency distribution of the signals in each range frequency cell into beelines parallel to the slow time axis simultaneously. Finally, cross-range profiles of group targets in each range frequency cell are obtained via a projection of the perk of every scatterer in the two-dimensional accumulation plane onto the frequency axis. The advantage of the proposed method is that it can align range profiles of each sub-target simultaneously and image cross-range profiles directly without separating the returned signals, which simplifies the operation procedure. Simulation results are used to demonstrate the effectiveness of the proposed method.

  4. Simultaneous ISAR imaging of group targets flying in formation

    Directory of Open Access Journals (Sweden)

    Chen Jie


    Full Text Available This paper proposes a novel inverse synthetic aperture radar (ISAR imaging method based on second-order keystone transform (KT and Sandglass transform for group targets flying in a formation with constant accelerated rectilinear motion in the same radar beam. First, range curvature and range walk of each sub-target among group targets are corrected by the second-order KT combined with the quadratic phase term compensation. After range alignment, the signals in each range frequency cell can be modelled as multiple chirp signals and then the Sandglass transform is utilized to cross-range imaging, which transforms the time–frequency distribution of the signals in each range frequency cell into beelines parallel to the slow time axis simultaneously. Finally, cross-range profiles of group targets in each range frequency cell are obtained via a projection of the perk of every scatterer in the two-dimensional accumulation plane onto the frequency axis. The advantage of the proposed method is that it can align range profiles of each sub-target simultaneously and image cross-range profiles directly without separating the returned signals, which simplifies the operation procedure. Simulation results are used to demonstrate the effectiveness of the proposed method.

  5. The impacts of a fliD mutation on the biofilm formation of Helicobacter pylori

    Institute of Scientific and Technical Information of China (English)

    Panan Ratthawongjirakul; Vorraruthai Thongkerd; Wanpen Chaicumpa


    Objective: To investigate the impact of the fliD gene on the biofilm formation of Hel-icobacter pylori (H. pylori). Methods: H. pylori fliD mutant was constructed using inverse PCR mutagenesis. The mobility of the bacteria and its adhesion ability to human epithelial cells were assessed using a motility assay and a fluorescein isothiocyanate staining adhesion assay, respec-tively. The formation of biofilm was evaluated using a pellicle assay and a crystal violet staining assay. The cyto-architecture of the biofilm was documented with scanning electron microscopy. Results: It was found that there was no significant difference in the levels of bacterial adhesion and the biofilm formation between the wild-type ATCC 43504 and the fliD mutant. Apart from a poor motility, the fliD mutant had a slightly delayed formation of its biofilm and an incomplete cyto-architecture of its biofilm. The bacterial cells residing in the biofilm of the fliD mutant showed a loose accumulation with less apparent cross-linking fibrils. Most of the mutant cells had truncated flagella. Conclusions: This study provides the preliminary evidences that fliD potentially regu-lates biofilm formation and is required for the motility of H. pylori. Further studies need to be performed in order to develop fliD as a novel target for vaccine or antimicrobial agent in future.

  6. Topology Control Algorithms for Spacecraft Formation Flying Networks Under Connectivity and Time-Delay Constraints Project (United States)

    National Aeronautics and Space Administration — SSCI is proposing to develop, test and deliver a set of topology control algorithms and software for a formation flying spacecraft that can be used to design and...

  7. Auto Landing Process for Autonomous Flying Robot by Using Image Processing Based on Edge Detection

    Directory of Open Access Journals (Sweden)

    Bahram Lavi Sefidgari


    Full Text Available In today’s technological life, everyone is quite familiar with the importance of security measures in our lives. So in this regard, many attempts have been made by researchers and one of them is flying robots technology. One well-known usage of flying robot, perhaps, is its capability in security and care measurements which made this device extremely practical, not only for its unmanned movement, but also for the unique manoeuvre during flight over the arbitrary areas. In this research, the automatic landing of a flying robot is discussed. The system is based on the frequent interruptions that is sent from main microcontroller to camera module in order to take images; these images have been distinguished by image processing system based on edge detection, after analysing the image the system can tell whether or not to land on the ground. This method shows better performance in terms of precision as well as experimentally.

  8. Solar radiation pressure used for formation flying control around the Sun-Earth libration point

    Institute of Scientific and Technical Information of China (English)

    Sheng-ping GONG; Jun-feng LI; He-xi BAOYIN


    Solar radiation pressure is used to control the formation flying around the L2 libration point in the Sun-Earth system. Formation flying control around a halo orbit requires a very small thrust that cannot be satisfied by the latest thrusters. The key contribution of this paper is that the continuous low thrust is produced by solar radiation pressure to achieve the tight formation flying around the libration point. However, only certain families of formation types can be controlled by solar radiation pressure since the direction of solar radiation pressure is restricted to a certain range. Two types of feasible formations using solar radiation pressure control are designed. The conditions of feasible formations are given analytically. Simulations are presented for each case, and the results show that the formations are well controlled by solar radiation pressure.

  9. RFP to work on formation flying capabilities for spacecrafts for the GRACE project

    DEFF Research Database (Denmark)

    Riis, Troels; Thuesen, Gøsta; Kilsgaard, Søren;


    The National Aeronautics and Space Agency of USA, NASA, are working on formation flying capabilities for spacecrafts, GRACE Project. IAU and JPL are developing the inter spacecraft attitude link to be used on the two spacecrafts.......The National Aeronautics and Space Agency of USA, NASA, are working on formation flying capabilities for spacecrafts, GRACE Project. IAU and JPL are developing the inter spacecraft attitude link to be used on the two spacecrafts....

  10. Status of the fast mission: Micro-satellite formation flying for technology, science and education

    NARCIS (Netherlands)

    Guo, J.; Maessen, D.C.; Gill, E.K.A.; Moon, S.G.; Zheng, G.


    FAST (Formation for Atmospheric Science and Technology demonstration) is a cooperative Dutch Chinese formation flying mission led by Delft University of Technology (TU Delft) in the Netherlands and Tsinghua University in China. It is expected to be the first international micro-satellite formation f

  11. Formation of reactive oxygen species in rat epithelial cells upon stimulation with fly ash

    Indian Academy of Sciences (India)

    K Voelkel; H F Krug; S Diabaté


    Fly ash was used as a model for ambient particulate matter which is under suspicion to cause adverse pulmonary health effects. The fly ash was pre-sized and contained only particles < 20 m including an ultrafine fraction (< 100 nm) that contributed 31% to the particle number. In our study, we investigated the influence of fly ash on the promotion of early inflammatory reactions like the formation of reactive oxygen species (ROS) in rat lung epithelial cells (RLE-6TN). Furthermore, we determined the formation of nitric oxide (NO). The cells show a clear dose-response relationship concerning the formation of ROS with regard to the mass of particles applied. Lipopolysaccharide (LPS) added as a co-stimulus did not increase the formation of ROS induced by fly ash. Furthermore, in LPS (0.1 g/ml) and tumour necrosis factor-alpha (TNF-alpha; 1 ng/ml) pre-treated cells no increase in reactive oxygen species comparable to fly ash alone is observable. In presence of the metal chelator, desferrioxamine (DFO), ROS formation can be significantly reduced. Neither fly ash nor LPS induced a significant NO release in RLE-6TN cells.

  12. FIRST Explorer -- An innovative low-cost passive formation-flying system

    CERN Document Server

    Bergman, Jan E S; Forbes, Alistair B; Humphreys, David A; Robinson, David W; Stavrinidis, Constantinos


    Formation-flying studies to date have required continuous and minute corrections of the orbital elements and attitudes of the spacecraft.This increases the complexity, and associated risk, of controlling the formation, which often makes formation-flying studies infeasible for technological and economic reasons. Passive formation-flying is a novel space-flight concept, which offers a remedy to those problems. Spacecraft in a passive formation are allowed to drift and rotate slowly, but by using advanced metrology and statistical modelling methods, their relative positions, velocities, and orientations are determined with very high accuracy. The metrology data is used directly by the payloads to compensate for spacecraft motions in software. The normally very stringent spacecraft control requirements are thereby relaxed, which significantly reduces mission complexity and cost. Space-borne low-frequency radio astronomy has been identified as a key science application for a conceptual pathfinder mission using thi...

  13. Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

    NARCIS (Netherlands)

    Keviczky, T.; Borelli, F.; Fregene, K.; Godbole, D.; Bals, G.J.


    This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers

  14. Integrated Design of a Long-Haul Commercial Aircraft Optimized for Formation Flying

    NARCIS (Netherlands)

    Dijkers, H.P.A.; Van Nunen, R.; Bos, D.A.; Gutleb, T.L.M.; Herinckx, L.E.; Radfar, H.; Van Rompuy, E.; Sayin, S.E.; De Wit, J.; Beelaerts van Blokland, W.W.A.


    The airline industry is under continuous pressure to reduce emissions and costs. This paper investigates the feasibility for commercial airlines to use formation flight to reduce emissions and fuel burn. To fly in formation, an aircraft needs to benefit from the wake vortices of the preceding aircra

  15. Line and Circle Formation of Distributed Autonomous Mobile Robots with Limited Sensor Range. (United States)


    In the literature, formation problems for idealized distributed autonomous mobile robots were studied. Idealized robots are represented by a...problems of distributed mobile robots that are subjected to physical constraints are addressed. It is assumed that mobile robots have physical...consideration of physical robots and realistic sensors, and are validated through extensive simulations. Formation problems for mobile robots with limited

  16. Controlling public speaking jitters: making the butterflies fly in formation. (United States)

    Harvey, Hannah; Baum, Neil


    Nearly every person who has been asked to give a speech or who has volunteered to make a presentation to a group of strangers develops fear and anxiety prior to the presentation. Most of us, the authors included, start hyperventilating, our pulse quickens, and we feel a little weak in the knees. We grab the lectern and our knuckles turn white as we hold on for dear life. This is a normal response that everyone experiences. However, this stress can be controlled and made manageable by understanding the stress response cycle and practicing a few techniques that calm those butterflies flying around in the pit of your stomach.

  17. Effect of size of fly ash particle on enhancement of mullite content and glass formation

    Indian Academy of Sciences (India)

    Parveen Sultana; Sukhen Das; Biswajoy Bagchi; Alakananda Bhattacharya; Ruma Basu; Papiya Nandy


    Quartz is widely replaced by fly ash in traditional porcelain composite. Increased strength and stability of the fly ash-mixed composite depends on the quantity and crystallinity of the mullite phase in the fly ash. Our aim in this investigation is to increase the formation of mullite in nanocrystalline form and study the effect of temperature. Quantitative estimation of mullite and residual quartz content were done by Xray diffraction (XRD) and nanostructure and crystallization were studied using differential thermal analysis (DTA), field effect scanning electron microscopy (FESEM), XRD and Fourier transform infrared (FTIR) spectroscopy. The results show that fly ash sieved through 250 holes/cm2 mesh contain more mullite initially and growth of mullite as well as glass formation was faster in this sample compared to coarse fly ash. The maximum mullite in these samples was formed at 1600°C. Transformation of quartz and cristobalite phases into glassy phase was also faster for smaller particle sizes of fly ash.

  18. Spatial Mapping of NEO 2008 EV5 Using Small Satellite Formation Flying and Steresoscopic Technology (United States)

    Gonzalez, Juan; Singh Derewa, Chrishma


    NASA is currently developing the first-ever robotic Asteroid Redirect Robotic Mission (ARRM) to the near-Earth asteroid 2008 EV5 with the objective to capture a multi-ton boulder from the asteroids surface and use its mass to redirect its parent into a CIS lunar orbit where astronauts will study its physical and chemical composition.A critical step towards achieving this mission is to effectively map the target asteroid, identify the candidate boulder for retrieval and characterize its critical parameters. Currently, ARRM utilizes a laser altimeter to characterize the height of the boulders and mapping for final autonomous control of the capture. The proposed Lava-Kusha mission provides the increased of stereoscopic imaging and mapping, not only the Earthward side of the asteroid which has been observed for possible landing sites, but mapping the whole asteroid. LKM will enhance the fidelity of the data collected by the laser altimeter and gather improved topographic data for future Orion missions to 2008 EV5 once in cis lunar space.LKM consists of two low cost small satellites (6U) as a part of the ARRM. They will launch with ARRM as an integrated part of the system. Once at the target, this formation of pathfinder satellites will image the mission critical boulder to ensure the system design can support its removal. LKM will conduct a series of flybys prior to ARRM's rendezvous. LKMs stereoscopic cameras will provide detailed surveys of the boulder's terrain and environment to ensure ARRM can operate safely, reach the location and interface with the boulder. The LKM attitude control and cold gas propulsion system will enable formation maintenance maneuvers for global mapping of asteroid 2008 EV5 at an altitude of 100 km to a high-spatial resolution imaging altitude of 5 km.LKM will demonstrate formation flying in deep space and the reliability of stereoscopic cameras to precisely identify a specific target and provide physical characterization of an asteroid. An

  19. Enabling Spacecraft Formation Flying through Position Determination, Control and Enhanced Automation Technologies (United States)

    Bristow, John; Bauer, Frank; Hartman, Kate; How, Jonathan


    Formation Flying is revolutionizing the way the space community conducts science missions around the Earth and in deep space. This technological revolution will provide new, innovative ways for the community to gather scientific information, share that information between space vehicles and the ground, and expedite the human exploration of space. Once fully matured, formation flying will result in numerous sciencecraft acting as virtual platforms and sensor webs, gathering significantly more and better science data than call be collected today. To achieve this goal, key technologies must be developed including those that address the following basic questions posed by the spacecraft: Where am I? Where is the rest of the fleet? Where do I need to be? What do I have to do (and what am I able to do) to get there? The answers to these questions and the means to implement those answers will depend oil the specific mission needs and formation configuration. However, certain critical technologies are common to most formations. These technologies include high-precision position and relative-position knowledge including Global Positioning System (GPS) mid celestial navigation; high degrees of spacecraft autonomy inter-spacecraft communication capabilities; targeting and control including distributed control algorithms, and high precision control thrusters and actuators. This paper provides an overview of a selection of the current activities NASA/DoD/Industry/Academia are working to develop Formation Flying technologies as quickly as possible, the hurdles that need to be overcome to achieve our formation flying vision, and the team's approach to transfer this technology to space. It will also describe several of the formation flying testbeds, such as Orion and University Nanosatellites, that are being developed to demonstrate and validate many of these innovative sensing and formation control technologies.

  20. Zeolite formation from coal fly ash and its adsorption potential. (United States)

    Ruen-ngam, Duangkamol; Rungsuk, Doungmanee; Apiratikul, Ronbanchob; Pavasant, Prasert


    The possibility in converting coal fly ash (CFA) to zeolite was evaluated. CFA samples from the local power plant in Prachinburi province, Thailand, were collected during a 3-month time span to account for the inconsistency of the CFA quality, and it was evident that the deviation of the quality of the raw material did not have significant effects on the synthesis. The zeolite product was found to be type X. The most suitable weight ratio of sodium hydroxide (NaOH) to CFA was approximately 2.25, because this gave reasonably high zeolite yield with good cation exchange capacity (CEC). The silica (Si)-to-aluminum (Al) molar ratio of 4.06 yielded the highest crystallinity level for zeolite X at 79% with a CEC of 240 meq/100 g and a surface area of 325 m2/g. Optimal crystallization temperature and time were 90 degrees C and 4 hr, respectively, which gave the highest CEC of approximately 305 meq/100 g. Yields obtained from all experiments were in the range of 50-72%.

  1. Flight demonstration of formation flying capabilities for future missions (NEAT Pathfinder)

    DEFF Research Database (Denmark)

    Delpech, M.; Malbet, F.; Karlsson, T.;


    PRISMA is a demonstration mission for formation-flying and on-orbit-servicing critical technologies that involves two spacecraft launched in low Earth orbit in June 2010 and still in operation. Funded by the Swedish National Space Board, PRISMA mission has been developed by OHB Sweden with import......PRISMA is a demonstration mission for formation-flying and on-orbit-servicing critical technologies that involves two spacecraft launched in low Earth orbit in June 2010 and still in operation. Funded by the Swedish National Space Board, PRISMA mission has been developed by OHB Sweden...... by the NEAT and microNEAT mission concepts. The experiment consisted in performing the type of formation maneuvers required to point the two-satellite axis to a celestial target and maintain it fixed during the observation period. Achieving inertial pointing for a LEO formation represented a new challenge...

  2. Road-Following Formation Control of Autonomous Ground Vehicles (United States)

    Ono, Masahiro; Droge, Greg; Grip, Havard; Toupet, Olivier; Scrapper, Chris; Rahmani, Amir


    This work presents a novel cooperative path planning for formation keeping robots traversing along a road with obstacles and possible narrow passages. A unique challenge in this problem is a requirement for spatial and temporal coordination between vehicles while ensuring collision and obstacle avoidance.

  3. Formation flying solar-sail gravity tractors in displaced orbit for towing near-Earth asteroids (United States)

    Gong, Shengping; Li, Junfeng; Baoyin, Hexi


    Several methods of asteroid deflection have been proposed in literature and the gravitational tractor is a new method using gravitational coupling for near-Earth object orbit modification. One weak point of gravitational tractor is that the deflection capability is limited by the mass and propellant of the spacecraft. To enhance the deflection capability, formation flying solar sail gravitational tractor is proposed and its deflection capability is compared with that of a single solar sail gravitational tractor. The results show that the orbital deflection can be greatly increased by increasing the number of the sails. The formation flying solar sail gravitational tractor requires several sails to evolve on a small displaced orbit above the asteroid. Therefore, a proper control should be applied to guarantee that the gravitational tractor is stable and free of collisions. Two control strategies are investigated in this paper: a loose formation flying realized by a simple controller with only thrust modulation and a tight formation realized by the sliding-mode controller and equilibrium shaping method. The merits of the loose and tight formations are the simplicity and robustness of their controllers, respectively.

  4. Design and control of multiple spacecraft formation flying in elliptical orbits

    Institute of Scientific and Technical Information of China (English)

    WANG Peng-ji; YANG Di


    Spacecraft formation flying is an attractive new concept in international aeronautic fields because of its powerful functions and low cost. In this paper, the formation design and PD closed-loop control of spacecraft formation flying in elliptical orbits are discussed. Based on two-body relative dynamics, the true anomaly is applied as independent variable instead of the variable of time. Since the apogee is considered as the starting point, the six integrating constants are calculated. Therefore, the algebraic solution is obtained for the relative motion in elliptical orbits. Moreover, the formation design is presented and both circular formation and line formation are provided in terms of an algebraic solution. This paper also discusses the PD-closed loop control for precise formation control in elliptical orbits. In this part, the error-type state equation is put forward and the linear quadratic regulator (LQR) method is used to calculate PD parameters. Though the gain matrix calculated from LQR is time-variable because the error-type state equation is time variable, the PD parameters are also considered as constants because of their small changes in simulation. Finally, taking circular formation as an example, the initial orbital elements are achieved for three secondary spacecraft. And the numerical simulation is analyzed under PD formation control with initial errors and J2 perturbation. The simulation results demonstrate the validity of PD closed-loop control scheme.

  5. In situ ATR-FTIR study of the early stages of fly ash geopolymer gel formation. (United States)

    Rees, Catherine A; Provis, John L; Lukey, Grant C; van Deventer, Jannie S J


    The kinetics of geopolymer formation are monitored using a novel in situ attenuated total reflectance Fourier transform infrared (ATR-FTIR) spectroscopic technique. Reaction rates are determined from the intensity variation of the bands related to the geopolymer gel network and the unreacted fly ash particles. Comparison with deuterated geopolymer samples provides critical information regarding peak assignments. An initial induction (lag) period is observed to occur for hydroxide-activated geopolymers, followed by gel evolution according to an approximately linear reaction profile. The length of the lag period is reduced by increasing the concentration of NaOH. An increase in the rate of network formation also occurs with increasing NaOH concentration up to a maximum point, beyond which an increased NaOH concentration leads to a reduced rate of network formation. This trend is attributed to the competing effects of increased alkalinity and stronger ion pairing with an increase in NaOH concentration. In situ analysis also shows that the rate of fly ash dissolution is similar for all moderate- to high-alkali geopolymer slurries, which is attributed to the very highly water-deficient nature of these systems and is contrary to predictions from classical glass dissolution chemistry. This provides for the first time detailed kinetic information describing fly ash geopolymer formation kinetics.

  6. Decentralized Formation Flying Control in a Multiple-Team Hierarchy (United States)

    Mueller, Joseph .; Thomas, Stephanie J.


    This paper presents the prototype of a system that addresses these objectives-a decentralized guidance and control system that is distributed across spacecraft using a multiple-team framework. The objective is to divide large clusters into teams of manageable size, so that the communication and computational demands driven by N decentralized units are related to the number of satellites in a team rather than the entire cluster. The system is designed to provide a high-level of autonomy, to support clusters with large numbers of satellites, to enable the number of spacecraft in the cluster to change post-launch, and to provide for on-orbit software modification. The distributed guidance and control system will be implemented in an object-oriented style using MANTA (Messaging Architecture for Networking and Threaded Applications). In this architecture, tasks may be remotely added, removed or replaced post-launch to increase mission flexibility and robustness. This built-in adaptability will allow software modifications to be made on-orbit in a robust manner. The prototype system, which is implemented in MATLAB, emulates the object-oriented and message-passing features of the MANTA software. In this paper, the multiple-team organization of the cluster is described, and the modular software architecture is presented. The relative dynamics in eccentric reference orbits is reviewed, and families of periodic, relative trajectories are identified, expressed as sets of static geometric parameters. The guidance law design is presented, and an example reconfiguration scenario is used to illustrate the distributed process of assigning geometric goals to the cluster. Next, a decentralized maneuver planning approach is presented that utilizes linear-programming methods to enact reconfiguration and coarse formation keeping maneuvers. Finally, a method for performing online collision avoidance is discussed, and an example is provided to gauge its performance.

  7. Linear and Nonlinear Relative Navigation Strategies for Small Satellite Formation Flying Based on Relative Position Measurement (United States)

    Zhang, Xiaomin; Zheng, You

    Based on linear and nonlinear mathematical model of spacecraft formation flying and technology of relative position measurement of small satellites, the linear and nonlinear relative navigation strategies are developed in this paper. The dynamical characteristics of multi spacecraft formation flying have been researched in many references, including the authors' several International Astronautical Congress papers with numbers of IAF-98-A.2.06, IAA-99-IAA.11.1.09, IAA-01-IAA.11.4.08. Under conditions of short distance and short time, the linear model can describe relative orbit motion; otherwise, nonlinear model must be adopted. Furthermore the means of measurement and their error will influence relative navigation. Thus three kinds of relative navigation strategy are progressed. With consideration of difficulty in relative velocity measurement of small satellites, the three relative navigation strategies are proposed and only depend on sequential data of relative position through measuring the relative distance and relative orientation. The first kind of relative navigation strategy is based on linear model. The second relative navigation strategy is based on nonlinear model, with inclusion of the second order item. In fact the measurement error can not be avoided especially for small satellites, it is mainly considered in the third relative navigation strategy. This research is theoretical yet and a series of formulas of relative navigation are presented in this paper. Also the authors analyzed the three strategies qualitatively and quantitatively. According to results of simulation, the ranges of application are indicated and suggested in allusion to the three strategies of relative navigation. On the view of authors, the relative navigation strategies for small satellite formation flying based on relative position measurement are significant for engineering of small satellite formation flying.

  8. Multi-UAVs Formation Autonomous Control Method Based on RQPSO-FSM-DMPC

    Directory of Open Access Journals (Sweden)

    Shao-lei Zhou


    Full Text Available For various threats in the enemy defense area, in order to achieve covert penetration and implement effective combat against enemy, the unmanned aerial vehicles formation needs to be reconfigured in the process of penetration; the mutual collision avoidance problems and communication constraint problems among the formation also need to be considered. By establishing the virtual-leader formation model, this paper puts forward distributed model predictive control and finite state machine formation manager. Combined with distributed cooperative strategy establishing the formation reconfiguration cost function, this paper proposes that adopting the revised quantum-behaved particle swarm algorithm solves the cost function, and it is compared with the result which is solved by particle swarm algorithm. Simulation result shows that this algorithm can control multiple UAVs formation autonomous reconfiguration effectively and achieve covert penetration safely.

  9. Autonomous flying robots

    CERN Document Server

    Nonami, Kenzo; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke


    Worldwide demand for robotic aircraft such as unmanned aerial vehicles (UAVs) and micro aerial vehicles (MAVs) is surging. Not only military but especially civil applications are being developed at a rapid pace. Unmanned vehicles offer major advantages when used for aerial surveillance, reconnaissance, and inspection in complex and inhospitable environments. UAVs are better suited for dirty or dangerous missions than manned aircraft and are more cost-effective. UAVs can operate in contaminated environments, for example, and at altitudes both lower and higher than those typically traversed by m

  10. Nonlinear control of multiple spacecraft formation flying using the constraint forces in Lagrangian systems

    Institute of Scientific and Technical Information of China (English)


    Getting inspiration from the constraint forces in the classical mechanics, we presented the nonlinear control method of multiple spacecraft formation flying to accurately keep the desired formation arrays. Considering nonlinearity and perturbation, we changed the question of the formation array control to the Lagrange equations with the holonomic constraints and the differential algebraic equations (DAE), and developed the nonlinear control for design of the follower spacecraft tracking control laws by solving the DAE. Because of using the idea of the constraint forces, this approach can adequately utilize the characteristic of the dynamic equations, i.e., the space natural forces, and accurately keep the arbitrary formation array. Simulation results of the circular formation keeping with the linear and nonlinear dynamical equations were included to illuminate the control performance.

  11. Looking Back and Looking Forward: Reprising the Promise and Predicting the Future of Formation Flying and Spaceborne GPS Navigation Systems (United States)

    Bauer, Frank H.; Dennehy, Neil


    A retrospective consideration of two 15-year old Guidance, Navigation and Control (GN&C) technology 'vision' predictions will be the focus of this paper. A look back analysis and critique of these late 1990s technology roadmaps out-lining the future vision, for two then nascent, but rapidly emerging, GN&C technologies will be performed. Specifically, these two GN&C technologies were: 1) multi-spacecraft formation flying and 2) the spaceborne use and exploitation of global positioning system (GPS) signals to enable formation flying. This paper reprises the promise of formation flying and spaceborne GPS as depicted in the cited 1999 and 1998 papers. It will discuss what happened to cause that promise to be mostly unfulfilled and the reasons why the envisioned formation flying dream has yet to become a reality. The recent technology trends over the past few years will then be identified and a renewed government interest in spacecraft formation flying/cluster flight will be highlighted. The authors will conclude with a reality-tempered perspective, 15 years after the initial technology roadmaps were published, predicting a promising future of spacecraft formation flying technology development over the next decade.

  12. A survey on pattern formation of autonomous mobile robots: asynchrony, obliviousness and visibility (United States)

    Yamauchi, Yukiko


    A robot system consists of autonomous mobile robots each of which repeats Look-Compute-Move cycles, where the robot observes the positions of other robots (Look phase), computes the track to the next location (Compute phase), and moves along the track (Move phase). In this survey, we focus on self-organization of mobile robots, especially their power of forming patterns. The formation power of a robot system is the class of patterns that the robots can form, and existing results show that the robot system's formation power is determined by their asynchrony, obliviousness, and visibility. We briefly survey existing results, with impossibilities and pattern formation algorithms. Finally, we present several open problems related to the pattern formation problem of mobile robots.

  13. Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

    Directory of Open Access Journals (Sweden)

    Xianbo Xiang


    Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

  14. Flight demonstration of formation flying capabilities for future missions (NEAT Pathfinder)

    CERN Document Server

    Delpech, M; Karlsson, T; Larsson, R; Léger, A; Jorgensen, J


    PRISMA is a demonstration mission for formation-flying and on-orbit-servicing critical technologies that involves two spacecraft launched in low Earth orbit in June 2010 and still in operation. Funded by the Swedish National Space Board, PRISMA mission has been developed by OHB Sweden with important contributions from the German Aerospace Centre (DLR/GSOC), the French Space Agency (CNES), and the Technical University of Denmark (DTU). The paper focuses on the last CNES experiment achieved in September 2012 that was devoted to the preparation of future astrometry missions illustrated by the NEAT and microNEAT mission concepts. The experiment consisted in performing the type of formation maneuvers required to point the two-satellite axis to a celestial target and maintain it fixed during the observation period. Achieving inertial pointing for a LEO formation represented a new challenge given the numerous constraints from propellant usage to star tracker blinding. The paper presents the experiment objectives in ...

  15. Adaptive Terminal Sliding Mode Control of Electromagnetic Spacecraft Formation Flying in Near-Earth Orbits

    Directory of Open Access Journals (Sweden)

    Jingrui Zhang


    Full Text Available An adaptive terminal sliding mode control for six-degree-of-freedom electromagnetic spacecraft formation flying (EMFF in near-Earth orbits is presented. By using terminal sliding mode (TSM technique, the output tracking error can converge to zero in finite time, and strong robustness with respect to disturbance forces can be guaranteed. Based on a rotated frame Fr and the adaptive TSM controller, the special magnetic moment of the steerable magnetic dipole is computed. The angular momentum management strategy (AMM is implemented in a periodically switching fashion, by which the angular momentum buildup was limited. Illustrative simulations of EMFF are conducted to verify the effectiveness of the proposed controller.

  16. Characterization of high-calcium fly ash and its influence on ettringite formation in portland cement pastes (United States)

    Tishmack, Jody Kathleen

    High-calcium Class C fly ashes derived from Powder River Basin coal are currently used as supplementary cementing materials in portland cement concrete. These fly ashes tend to contain significant amounts of sulfur, calcium, and aluminum, thus they are potential sources of ettringite. Characterization of six high-calcium fly ashes originating from Powder River Basin coal have been carried out. The hydration products formed in pastes made from fly ash and water were investigated. The principal phases produced at room temperature were ettringite, monosulfate, and stratlingite. The relative amounts formed varied with the specific fly ash. Removal of the soluble crystalline sulfur bearing minerals indicated that approximately a third of the sulfur is located in the fly ash glass. Pore solution analyses indicated that sulfur concentrations increased at later ages. Three fly ashes were selected for further study based on their ability to form ettringite. Portland cement-fly ash pastes made with the selected fly ashes were investigated to evaluate ettringite and monosulfate formation. Each of the fly ashes were mixed with four different types of portland cements (Type I, I/II, II, and III) as well as three different Type I cements exhibiting a range of C3A and sulfate contents. The pastes had 25% or 35% fly ash by total weight of solids and a water:cement-fly ash ratio of 0.45. The samples were placed in a curing room (R.H. = 100, 23°C) and were then analyzed at various ages by x-ray diffraction (XRD) and differential scanning calorimetry (DSC) to determine the principal hydration products. The hydration products identified by XRD were portlandite, ettringite (an AFt phase), monosulfate, and generally smaller amounts of hemicarboaluminate and monocarboaluminate (all AFm phases). Although the amount of ettringite formed varied with the individual cement, only a modest correlation with cement sulfate content and no correlation with cement C3A content was observed. DSC

  17. Design, Integration and Flight Test of a Pair of Autonomous Spacecraft Flying in Formation (United States)


    cm 58 cm 39.13 kg Communication Satellite to ground Satellite to satellite Data rate adequate for telemetry Custom inter -satellite comm...either their programs or the M-SAT team project. A prime example of this is the CASA program ( casa

  18. Designing a Robust Nonlinear Dynamic Inversion Controller for Spacecraft Formation Flying

    Directory of Open Access Journals (Sweden)

    Inseok Yang


    Full Text Available The robust nonlinear dynamic inversion (RNDI control technique is proposed to keep the relative position of spacecrafts while formation flying. The proposed RNDI control method is based on nonlinear dynamic inversion (NDI. NDI is nonlinear control method that replaces the original dynamics into the user-selected desired dynamics. Because NDI removes nonlinearities in the model by inverting the original dynamics directly, it also eliminates the need of designing suitable controllers for each equilibrium point; that is, NDI works as self-scheduled controller. Removing the original model also provides advantages of ease to satisfy the specific requirements by simply handling desired dynamics. Therefore, NDI is simple and has many similarities to classical control. In real applications, however, it is difficult to achieve perfect cancellation of the original dynamics due to uncertainties that lead to performance degradation and even make the system unstable. This paper proposes robustness assurance method for NDI. The proposed RNDI is designed by combining NDI and sliding mode control (SMC. SMC is inherently robust using high-speed switching inputs. This paper verifies similarities of NDI and SMC, firstly. And then RNDI control method is proposed. The performance of the proposed method is evaluated by simulations applied to spacecraft formation flying problem.

  19. Bio-Inspired Vision-Based Leader-Follower Formation Flying in the Presence of Delays

    Directory of Open Access Journals (Sweden)

    John Oyekan


    Full Text Available Flocking starlings at dusk are known for the mesmerizing and intricate shapes they generate, as well as how fluid these shapes change. They seem to do this effortlessly. Real-life vision-based flocking has not been achieved in micro-UAVs (micro Unmanned Aerial Vehicles to date. Towards this goal, we make three contributions in this paper: (i we used a computational approach to develop a bio-inspired architecture for vision-based Leader-Follower formation flying on two micro-UAVs. We believe that the minimal computational cost of the resulting algorithm makes it suitable for object detection and tracking during high-speed flocking; (ii we show that provided delays in the control loop of a micro-UAV are below a critical value, Kalman filter-based estimation algorithms are not required to achieve Leader-Follower formation flying; (iii unlike previous approaches, we do not use external observers, such as GPS signals or synchronized communication with flock members. These three contributions could be useful in achieving vision-based flocking in GPS-denied environments on computationally-limited agents.

  20. Formation Flying Satellite Control Around the L2 Sun-Earth Libration Point (United States)

    Hamilton, Nicholas H.


    A growing interest in formation flying satellites demands development and analysis of control and estimation algorithms for station-keeping and formation maneuvering. This thesis discusses the development of a discrete linear-quadratic- regulator control algorithm for formations in the vicinity of the L2 sun-earth libration point. The development of an appropriate Kalman filter is included as well. Simulations are created for the analysis of the station-keeping and various formation maneuvers of the Stellar Imager mission. The simulations provide tracking error, estimation error, and control effort results. From the control effort, useful design parameters such as AV and propellant mass are determined. For formation maneuvering, the drone spacecraft track to within 4 meters of their desired position and within 1.3 millimeters per second of their desired zero velocity. The filter, with few exceptions, keeps the estimation errors within their three-sigma values. Without noise, the controller performs extremely well, with the drones tracking to within several micrometers. Bach drone uses around 1 to 2 grams of propellant per maneuver, depending on the circumstances.

  1. Dynamic formation of zeolite synthesized from fly ash by alkaline hydrothermal conversion. (United States)

    Zhang, ZhiJian; Li, Jiangli; Li, Hongyi; Wang, Hang; Zhu, Jun; He, Qiang


    This study was designed to characterize the dynamic formation of zeolite synthesized from fly ash (ZFA) and to identify the zeolitization mechanisms during a 160-h-long hydrothermal alkaline conversion at 95°C by using fly ash (FA) samples collected from four typical thermoelectric power plants in China, with the purpose of improving ZFA quality. The process of synthesizing ZFA can be fundamentally divided into five stages: induction stage (0-0.5 h), accelerating dissolution stage (0.5-12 h), nucleation and/or crystallization stage (12-24 h), crystal growth stage (24-72 h) and crystal transformation stage (72-160 h). The crystal growth stage determined the quality of zeolite crystallization, coupled with functions of re-assembling the silicon-aluminium tetrahedral network and developing submicro- and/or nanometer microstructure. A 48-h-long hydrothermal conversion generated ZFAs that had a greater specific surface area (26.0-89.4 times) and cation exchange capacity (29.6-71.0 times) than FA, which successfully sequestrated 41-95% of ammonium and 75-98% of phosphate from swine manure. However, over-reaction resulted in more stable hydroxysodalite and/or sodalite, surface agglomeration and cracking, and energy wasting. This work suggests that the reuse of recycled synthesis materials should occur during the fourth step (24-72 h).

  2. Neural network-based distributed attitude coordination control for spacecraft formation flying with input saturation. (United States)

    Zou, An-Min; Kumar, Krishna Dev


    This brief considers the attitude coordination control problem for spacecraft formation flying when only a subset of the group members has access to the common reference attitude. A quaternion-based distributed attitude coordination control scheme is proposed with consideration of the input saturation and with the aid of the sliding-mode observer, separation principle theorem, Chebyshev neural networks, smooth projection algorithm, and robust control technique. Using graph theory and a Lyapunov-based approach, it is shown that the distributed controller can guarantee the attitude of all spacecraft to converge to a common time-varying reference attitude when the reference attitude is available only to a portion of the group of spacecraft. Numerical simulations are presented to demonstrate the performance of the proposed distributed controller.

  3. Application of Analytic Solution in Relative Motion to Spacecraft Formation Flying in Elliptic Orbit (United States)

    Cho, Hancheol; Park, Sang-Young; Choi, Kyu-Hong


    The current paper presents application of a new analytic solution in general relative motion to spacecraft formation flying in an elliptic orbit. The calculus of variations is used to analytically find optimal trajectories and controls for the given problem. The inverse of the fundamental matrix associated with the dynamic equations is not required for the solution in the current study. It is verified that the optimal thrust vector is a function of the fundamental matrix of the given state equations. The cost function and the state vector during the reconfiguration can be analytically obtained as well. The results predict the form of optimal solutions in advance without having to solve the problem. Numerical simulation shows the brevity and the accuracy of the general analytic solutions developed in the current paper.

  4. Ionosphere influence on success rate of GPS ambiguity resolution in a satellite formation flying (United States)

    Baroni, Leandro


    Satellite formation flying is one of the most promising technologies for future space missions. The distribution of sensors and payloads among different satellites provides more redundancy, flexibility, improved communication coverage, among other advantages. One of the fundamental issues in spacecraft formation flying is precise position and velocity determination between satellites. For missions in low Earth orbits, GPS system can meet the precision requirement in relative positioning, since the satellite dynamics is modeled properly. The key for high accuracy GPS relative positioning is to resolve the ambiguities to their integer values. Ambiguities resolved successfully can improve the positioning accuracy to decimetre or even millimetre-level. So, integer carrier phase ambiguity resolution is often a prerequisite for high precision GPS positioning. The determination of relative position was made using an extended Kalman filter. The filter must take into account imperfections in dynamic modeling of perturbations affecting the orbital flight, and changes in solar activity that affects the GPS signal propagation, for mitigating these effects on relative positioning accuracy. Thus, this work aims to evaluate the impact of ionosphere variation, caused by changes in solar activity, in success rate of ambiguity resolution. Using the Ambiguity Dilution of Precision (ADOP) concept, the ambiguity success rate is analyzed and the expected precision of the ambiguity-fixed solution is calculated. Evaluations were performed using actual data from GRACE mission and analyzed for their performance in real scenarios. Analyses were conducted in different configurations of relative position and during different levels of solar activity. Results bring the impact of various disturbances and modeling of solar activity level on the success rate of ambiguity resolution.

  5. A distributed model predictive control (MPC) fault reconfiguration strategy for formation flying satellites (United States)

    Esfahani, N. R.; Khorasani, K.


    In this paper, an active distributed (also referred to as semi-decentralised) fault recovery control scheme is proposed that employs inaccurate and unreliable fault information into a model-predictive-control-based design. The objective is to compensate for the identified actuator faults that are subject to uncertainties and detection time delays, in the attitude control subsystems of formation flying satellites. The proposed distributed fault recovery scheme is developed through a two-level hierarchical framework. In the first level, or the agent level, the fault is recovered locally to maintain as much as possible the design specifications, feasibility, and tracking performance of all the agents. In the second level, or the formation level, the recovery is carried out by enhancing the entire team performance. The fault recovery performance of our proposed distributed (semi-decentralised) scheme is compared with two other alternative schemes, namely the centralised and the decentralised fault recovery schemes. It is shown that the distributed (semi-decentralised) fault recovery scheme satisfies the recovery design specifications and also imposes lower fault compensation control effort cost and communication bandwidth requirements as compared to the centralised scheme. Our proposed distributed (semi-decentralised) scheme also outperforms the achievable performance capabilities of the decentralised scheme. Simulation results corresponding to a network of four precision formation flight satellites are also provided to demonstrate and illustrate the advantages of our proposed distributed (semi-decentralised) fault recovery strategy.

  6. Formation flying as an innovative air transportation system for long-haul commercial flight: A focus on operational feasibility and potential gain

    NARCIS (Netherlands)

    Herinckx, L.E.; Gutleb, T.L.M.; Van Nunen, R.; Van Rompuy, E.; Bos, D.A.; Dijkers, H.P.A.; De Wit, J.; Radfar, H.; Sahin, S.E.; Beelarts van Blokland, W.W.A.


    Formation flying is introduced as a new and innovative air transportation system for long-haul commercial flight. With this paper the operational feasibility of formation flying is addressed, both from a market demand and economic, as well as an air traffic control perspective. Preliminary results o

  7. Dynamics and control of spacecraft formation flying and constellation station keeping (United States)

    Duan, Xiaodong


    Formation flying and constellation station keeping, the innovative concept of distributing the functionality of monolithic satellites among less expensive, smaller, cooperative satellites, enables faster ground track repeats, provides higher degrees of system redundancy and, in the end, reduces the cost of the whole mission. However, the practical implementation of this concept is associated with the need to tightly design, measure, control and maintain the formation or relative distance, phasing and orientations among the participating satellites. Implementing, maintaining, and reconfiguring the cluster of satellites is so critical and complex, that it would be a big burden on the traditional ground-based orbital determination, navigation and command systems, and it also may impose stringent requirements on current control systems in terms of the energy consumption, precision, and the overall budget. The research work in this dissertation addresses the problems in two parts: the first part, which discusses mainly how to design the relative orbits for formation flying and constellation station keeping; and the second part, which is about the exploitation of possible control algorithms for maintaining the formation and constellation. Orbits are investigated for which there are no relative secular precessions or drifts due to the Earth's perturbations between the spacecraft. In this case the energy consumption could be largely decreased. A general method is introduced to establish the relationship between a given orbit relative to a reference orbit. By analyzing a set of differential equations, relationships between the orbit design and all possible relative secular drifts due to perturbations in the Earth's gravitational field, can be derived. Mathematical singularities encountered at specific orbital inclination angles, such as polar inclinations, are discussed. By using the general approach, a solution for polar inclinations is found. Two solution sets are found

  8. Distributions, profiles and formation mechanisms of polychlorinated naphthalenes in cement kilns co-processing municipal waste incinerator fly ash. (United States)

    Liu, Guorui; Zhan, Jiayu; Zhao, Yuyang; Li, Li; Jiang, Xiaoxu; Fu, Jianjie; Li, Chunping; Zheng, Minghui


    Co-processing municipal solid waste incinerator (MSWI) fly ash in cement kilns is challenging because the unintentional production of persistent organic pollutants (POPs) during the process is not well understood. The distributions, profiles and formation mechanisms of polychlorinated naphthalenes (PCNs) as new POPs covered under Stockholm Convention in two cement kilns co-processing MSWI fly ash were studied. The average concentrations of PCNs in stack gas samples were 710 ng m(-3). The PCN concentration in particle samples collected from different process stages in the cement kilns ranged from 1.1 to 84.7 ng g(-1). Three process sites including suspension pre-heater boiler, humidifier tower, and the kiln back-end bag filter were identified to be the major formation sites of PCNs in cement kilns co-processing MSWI fly ash. The PCN distribution patterns were similar to that of polychlorinated dibenzo-p-dioxin and dibenzofuran (PCDD/Fs), which indicates the possibility for simultaneous control of PCNs and PCDD/Fs in cement kilns co-processing fly ash. Chlorination was suggested to be an important formation mechanism of PCNs, and chlorination pathways of PCN congeners are proposed based on the congener profiles. Thermodynamic calculations, including relative thermal energies (ΔE) and standard free energy of formation (ΔG), and the charge densities of the carbon atoms in PCN supported the proposed chlorination mechanisms for PCN formation. The results presented in this study might provide helpful information for developing techniques and strategies to control PCN emissions during cement kilns co-processing MSWI fly ash.

  9. Coupled Attitude and Orbit Dynamics and Control in Formation Flying Systems (United States)

    Xu, Yun-Jun; Fitz-Coy, Norman; Mason, Paul


    Formation flying systems can range from global constellations offering extended service coverage to clusters of highly coordinated vehicles that perform distributed sensing. Recently, the use of groups of micro-satellites in the areas of near Earth explorations, deep space explorations, and military applications has received considerable attention by researchers and practitioners. To date, most proposed control strategies are based on linear models (e.g., Hill-Clohessy-Wiltshire equations) or nonlinear models that are restricted to circular reference orbits. Also, all models in the literature are uncoupled between relative position and relative attitude. In this paper, a generalized dynamic model is proposed. The reference orbit is not restricted to the circular case. In this formulation, the leader or follower satellite can be in either a circular or an elliptic orbit. In addition to maintaining a specified relative position, the satellites are also required to maintain specified relative attitudes. Thus the model presented couples vehicle attitude and orbit requirements. Orbit perturbations are also included. In particular, the J(sub 2) effects are accounted in the model. Finally, a sliding mode controller is developed and used to control the relative attitude of the formation and the simulation results are presented.


    Institute of Scientific and Technical Information of China (English)

    MENG Xin; LI Jun-feng; GAO Yun-feng


    A set of parameters called relative orbital elements were defined to describe the relative motion of the satellites in the formation flying. With the help of these parameters, the effect of the perturbations on the relative orbit trajectory and geometric properties of satellite formation can be easily analyzed. First,the relative orbital elements are derived, and pointed out: if the eccentricity of the leading satellite is a small value, the relative orbit trajectory is determined by the intersection between an elliptic cylinder and a plane in the leading satellite orbit frame reference; and the parameters that describe the elliptic cylinder and the plane can be used to obtain the relative orbit trajectory and the relative orbital elements. Second, by analyzing the effects of gravitational perturbations on the relative orbit using the relative orbital elements,it is found that the propagation of a relative orbit consists of two parts: one is the drift of the elliptic cylinder; and the other is the rotation of the plane resulted from the rotation of the normal of the plane. Meanwhile, the analytic formulae for the drift and rotation rates of a relative trajectory under gravitational perturbations are presented. Finally, the relative orbit trajectory and the corresponding changes were analyzed with respect to the J2 perturbation.

  11. Robust attitude control for rapid multi-target tracking in spacecraft formation flying

    Institute of Scientific and Technical Information of China (English)


    A robust attitude tracking control scheme for spacecraft formation flying is presented.The leader spacecraft with a.rapid mobile antenna and a camera is modeled.While the camera is tracking the ground target,the antenna is tracking the follower spacecraft.By an angular velocity constraint and an angular constraint,two methods are proposed to compute the reference attitude profiles of the camera and antenna,respectively.To simplify the control design problem,this paper first derives the desired inverse system (DIS),which can convert the attitude tracking problem of 3D space into the regulator problem.Based on DIS and sliding mode control (SMC),a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance.By Lyapunov stability theory,the closed loop system stability can be achieved.The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.

  12. Thermochemical Formation of Polybrominated Dibenzo-p-Dioxins and Dibenzofurans Mediated by Secondary Copper Smelter Fly Ash, and Implications for Emission Reduction. (United States)

    Wang, Mei; Liu, Guorui; Jiang, Xiaoxu; Zheng, Minghui; Yang, Lili; Zhao, Yuyang; Jin, Rong


    Heterogeneous reactions mediated by fly ash are important to polychlorinated dibenzo-p-dioxin and dibenzofuran (PCDD/Fs) formation. However, the formation of polybrominated dibenzo-p-dioxins and dibenzofurans (PBDD/Fs) through heterogeneous reactions is not yet well understood. Experiments were performed to investigate the thermochemical formation of PBDD/Fs at 150-450 °C through heterogeneous reactions on fly ash from a secondary copper smelter. The maximum PBDD/F concentration was 325 times higher than the initial PBDD/F concentration in the fly ash. The PBDD/F concentration after the experiment at 150 °C was five times higher than the initial concentration. PBDD/Fs have not previously been found to form at such a low temperature. Secondary-copper-smelter fly ash clearly promoted PBDD/F formation, and this conclusion was supported by the low activation energies that were found in Arrhenius's law calculations. Thermochemical formation of PBDD/Fs mediated by fly ash deposited in industrial facilities could explain "memory effects" that have been found for PCDD/Fs and similar compounds released from industrial facilities. Abundant polybrominated diphenyl ethers (PBDEs) that were formed through fly ash-mediated reactions could be important precursors for PBDD/Fs also formed through fly ash-mediated reactions. The amounts of PBDEs that formed through fly ash-mediated reactions suggested that secondary copper smelters could be important sources of reformed PBDEs.

  13. Innovative optical power detection array system for relative positioning of inner-formation flying system (United States)

    Hou, Zhendong; Wang, Zhaokui; Zhang, Yulin


    The Inner-formation flying system (IFFS) is conceived to feature a spherical proof mass falling freely within a large cavity for space gravity detection, of which first application focuses on the Earth's gravity field recovery. For the IFFS, it is the relative position of the proof mass to its surrounding cavity that is feedback into thrusters for tracking control, even as part of data to detect gravity. Since the demonstration and verification of demanding technologies using small satellite platforms is a very sensible choice prior to detection mission, an optical power detection array system (OPDAS) is proposed to measure the relative position with advantages of low cost and high adaptability. Besides that, its large dynamic range can reduce the requirement for satellite platform and releasing mechanism, which is also an attracting trait for small satellite application. The concept of the OPDAS is firstly presented, followed by the algorithm to position the proof mass. Then the radiation pressure caused by the measuring beam is modeled, and its disturbance on the proof mass is simulated. The experimental system to test the performance of a prototype of the OPDAS is established, and the preliminary results show that a precision of less than 0.4 mm across a dynamic range of several centimeters can be reached by the prototype of the OPDAS.

  14. Design and Analysis of a Formation Flying System for the Cross-Scale Mission Concept (United States)

    Cornara, Stefania; Bastante, Juan C.; Jubineau, Franck


    The ESA-funded "Cross-Scale Technology Reference Study has been carried out with the primary aim to identify and analyse a mission concept for the investigation of fundamental space plasma processes that involve dynamical non-linear coupling across multiple length scales. To fulfill this scientific mission goal, a constellation of spacecraft is required, flying in loose formations around the Earth and sampling three characteristic plasma scale distances simultaneously, with at least two satellites per scale: electron kinetic (10 km), ion kinetic (100-2000 km), magnetospheric fluid (3000-15000 km). The key Cross-Scale mission drivers identified are the number of S/C, the space segment configuration, the reference orbit design, the transfer and deployment strategy, the inter-satellite localization and synchronization process and the mission operations. This paper presents a comprehensive overview of the mission design and analysis for the Cross-Scale concept and outlines a technically feasible mission architecture for a multi-dimensional investigation of space plasma phenomena. The main effort has been devoted to apply a thorough mission-level trade-off approach and to accomplish an exhaustive analysis, so as to allow the characterization of a wide range of mission requirements and design solutions.

  15. Dynamic Neural Network-Based Pulsed Plasma Thruster (PPT) Fault Detection and Isolation for Formation Flying of Satellites (United States)

    Valdes, A.; Khorasani, K.

    The main objective of this paper is to develop a dynamic neural network-based fault detection and isolation (FDI) scheme for the Pulsed Plasma Thrusters (PPTs) that are used in the Attitude Control Subsystem (ACS) of satellites that are tasked to perform a formation flying mission. By using data collected from the relative attitudes of the formation flying satellites our proposed "High Level" FDI scheme can detect the pair of thrusters which is faulty, however fault isolation cannot be accomplished. Based on the "High Level" FDI scheme and the DNN-based "Low Level" FDI scheme developed earlier by the authors, an "Integrated" DNN-based FDI scheme is then proposed. To demonstrate the FDI capabilities of the proposed schemes various fault scenarios are simulated.

  16. Adaptive estimation and control with application to vision-based autonomous formation flight (United States)

    Sattigeri, Ramachandra


    Modern Unmanned Aerial Vehicles (UAVs) are equipped with vision sensors because of their light-weight, low-cost characteristics and also their ability to provide a rich variety of information of the environment in which the UAVs are navigating in. The problem of vision based autonomous flight is very difficult and challenging since it requires bringing together concepts from image processing and computer vision, target tracking and state estimation, and flight guidance and control. This thesis focuses on the adaptive state estimation, guidance and control problems involved in vision-based formation flight. Specifically, the thesis presents a composite adaptation approach to the partial state estimation of a class of nonlinear systems with unmodeled dynamics. In this approach, a linear time-varying Kalman filter is the nominal state estimator which is augmented by the output of an adaptive neural network (NN) that is trained with two error signals. The benefit of the proposed approach is in its faster and more accurate adaptation to the modeling errors over a conventional approach. The thesis also presents two approaches to the design of adaptive guidance and control (G&C) laws for line-of-sight formation flight. In the first approach, the guidance and autopilot systems are designed separately and then combined together by assuming time-scale separation. The second approach is based on integrating the guidance and autopilot design process. The developed G&C laws using both approaches are adaptive to unmodeled leader aircraft acceleration and to own aircraft aerodynamic uncertainties. The thesis also presents theoretical justification based on Lyapunov-like stability analysis for integrating the adaptive state estimation and adaptive G&C designs. All the developed designs are validated in nonlinear, 6DOF fixed-wing aircraft simulations. Finally, the thesis presents a decentralized coordination strategy for vision-based multiple-aircraft formation control. In this

  17. Transforming growth factor beta signaling is essential for the autonomous formation of cartilage-like tissue by expanded chondrocytes.

    Directory of Open Access Journals (Sweden)

    Adel Tekari

    Full Text Available Cartilage is a tissue with limited self-healing potential. Hence, cartilage defects require surgical attention to prevent or postpone the development of osteoarthritis. For cell-based cartilage repair strategies, in particular autologous chondrocyte implantation, articular chondrocytes are isolated from cartilage and expanded in vitro to increase the number of cells required for therapy. During expansion, the cells lose the competence to autonomously form a cartilage-like tissue, that is in the absence of exogenously added chondrogenic growth factors, such as TGF-βs. We hypothesized that signaling elicited by autocrine and/or paracrine TGF-β is essential for the formation of cartilage-like tissue and that alterations within the TGF-β signaling pathway during expansion interfere with this process. Primary bovine articular chondrocytes were harvested and expanded in monolayer culture up to passage six and the formation of cartilage tissue was investigated in high density pellet cultures grown for three weeks. Chondrocytes expanded for up to three passages maintained the potential for autonomous cartilage-like tissue formation. After three passages, however, exogenous TGF-β1 was required to induce the formation of cartilage-like tissue. When TGF-β signaling was blocked by inhibiting the TGF-β receptor 1 kinase, the autonomous formation of cartilage-like tissue was abrogated. At the initiation of pellet culture, chondrocytes from passage three and later showed levels of transcripts coding for TGF-β receptors 1 and 2 and TGF-β2 to be three-, five- and five-fold decreased, respectively, as compared to primary chondrocytes. In conclusion, the autonomous formation of cartilage-like tissue by expanded chondrocytes is dependent on signaling induced by autocrine and/or paracrine TGF-β. We propose that a decrease in the expression of the chondrogenic growth factor TGF-β2 and of the TGF-β receptors in expanded chondrocytes accounts for a decrease

  18. Vortex Formation and Force Generation Mechanisms of the DelFly II in Hovering Flight

    NARCIS (Netherlands)

    Tenaglia, A.; Persin, M.; Van Oudheusden, B.W.; Deng, S.; Remes, B.


    This paper addresses the unsteady aerodynamic mechanisms in the hovering flight of the DelFly II flapping-wing Micro Aerial Vehicle (MAV). Stereoscopic Particle Image Velocimetry (Stereo-PIV) were carried out around the wings at a high framing rate. Thrust-force was measured to investigate the relat

  19. Sentinel Convoy: Synergetic Earth Observation with Satellites Flying in Formation with European Operational Missions (United States)

    Regan, Amanda; Silvestrin, Pierluigi; Fernandez, Diego


    The successful launch of Sentinel-1A, Sentinel-1B, Sentinel-2A and Sentinel-3A signify the beginning of the dedicated space segment for the Copernicus Programme, which is the result of the partnership between the European Commission (EC) and the European Space Agency (ESA). These Sentinels are the first of a long-term operational series of Earth Observation (EO) satellites to be launched by Europe that will complement the already well-established series of meteorological missions.For the first time, these missions will provide a continuous and long term European capability for systematic observations of the Earth surface, its oceans and atmosphere to unprecedented accuracies, resolutions, and temporal coverage. If additional cost- effective missions could be flown together with these operational missions (including operational meteorological satellite series such as MetOp (Second Generation - SG) then the possibilities for meeting new Earth science and application objectives could be far- reaching e.g. fulfilling observational gaps, synergistic measurements of Earth system processes, etc. To explore this potential, the ESA initiated three exploratory paper studies (known as the EO-Convoy studies). The aim of these studies is two fold: Firstly, to identify scientific and operational objectives and needs that would benefit from additional in-orbit support. Secondly, to identify and develop a number of cost- effective mission concepts that would meet these objectives and needs. Each EO Convoy study is dedicated to a specific theme, namely: Study 1 - Ocean and Ice Applications, Study 2 - Land Applications and Study 3 - Atmospheric Applications.This paper will present the results of the EO-Convoy studies including an overview of the user needs and derived convoy concept descriptions. This paper shall focus on the resulting science benefits. Example convoy concepts to be presented include a passive C-band SAR flying with Sentinel-1 and possible free flying thermal

  20. Propellantless Spacecraft Formation-Flying and Maneuvering with Photonic Laser Thrusters Project (United States)

    National Aeronautics and Space Administration — Until the former NIAC was closed, we had investigated a nano-meter accuracy formation flight method based on photon thrusters and tethers, Photon Tether Formation...

  1. Algorithms for Autonomous GPS Orbit Determination and Formation Flying: Investigation of Initialization Approaches and Orbit Determination for HEO (United States)

    Axelrad, Penina; Speed, Eden; Leitner, Jesse A. (Technical Monitor)


    This report summarizes the efforts to date in processing GPS measurements in High Earth Orbit (HEO) applications by the Colorado Center for Astrodynamics Research (CCAR). Two specific projects were conducted; initialization of the orbit propagation software, GEODE, using nominal orbital elements for the IMEX orbit, and processing of actual and simulated GPS data from the AMSAT satellite using a Doppler-only batch filter. CCAR has investigated a number of approaches for initialization of the GEODE orbit estimator with little a priori information. This document describes a batch solution approach that uses pseudorange or Doppler measurements collected over an orbital arc to compute an epoch state estimate. The algorithm is based on limited orbital element knowledge from which a coarse estimate of satellite position and velocity can be determined and used to initialize GEODE. This algorithm assumes knowledge of nominal orbital elements, (a, e, i, omega, omega) and uses a search on time of perigee passage (tau(sub p)) to estimate the host satellite position within the orbit and the approximate receiver clock bias. Results of the method are shown for a simulation including large orbital uncertainties and measurement errors. In addition, CCAR has attempted to process GPS data from the AMSAT satellite to obtain an initial estimation of the orbit. Limited GPS data have been received to date, with few satellites tracked and no computed point solutions. Unknown variables in the received data have made computations of a precise orbit using the recovered pseudorange difficult. This document describes the Doppler-only batch approach used to compute the AMSAT orbit. Both actual flight data from AMSAT, and simulated data generated using the Satellite Tool Kit and Goddard Space Flight Center's Flight Simulator, were processed. Results for each case and conclusion are presented.

  2. Fly Ash Formation during Suspension-Firing of Biomass. Effects of Residence Time and Fuel-Type

    DEFF Research Database (Denmark)

    Damø, Anne Juul; Jensen, Peter Arendt; Jappe Frandsen, Flemming


    The objective of this work was to generate comprehensive data on the formation of residual fly ash during the initial stages of suspension-firing of biomass. Combustion experiments were carried out with pulverized biomass fuels (two straw fuels and two wood fuels), in an entrained flow reactor...... at 1200-1400 °C, simulating full-scale suspension-firing of biomass. By the use of a movable, cooled and quenched gas/particle sampling probe, samples were collected at different positions along the vertical axis in the reactor, corresponding to gas residence times ranging from 0.25 – 2.0s. The collected...... particles were subjected to various analyses, including char burnout level, particle size distribution, elemental composition, and particle morphology and composition. Furthermore, the transient release, i.e. the vaporization of the flame-volatile inorganic elements K, Cl and S, from the burning fuel...

  3. Propulsion System Development for the CanX-4 and CanX-5 Dual Nanosatellite Formation Flying Mission (United States)

    Risi, Benjamin Walter

    The Canadian Nanosatellite Advanced Propulsion System is a liquefied cold-gas thruster system that provides propulsive capabilities to CanX-4/-5, the Canadian Advanced Nanospace eXperiment 4 and 5. With a launch date of early 2014, CanX-4/-5's primary mission objective is to demonstrate precise autonomous formation flight of nanosatellites in low Earth orbit. The high-level CanX-4/-5 mission and system architecture is described. The final design and assembly of the propulsion system is presented along with the lessons learned. A high-level test plan provides a roadmap of the testing required to qualify the propulsion system for flight. The setup and execution of these tests, as well as the analyses of the results found therein, are discussed in detail.

  4. Experimental and modeling study of de novo formation of PCDD/PCDF on MSW fly ash

    Institute of Scientific and Technical Information of China (English)

    LI Xiao-dong; ZHANG Ji; YAN Jian-hua; CEN Ke-fa; RYAN Shawn P; GULLETT Brian K; LEE Chunwai


    The effect of sulfur dioxide (SO2) on formation of polychlorinated dibenzo-p-dioxins (PCDDs) and polychlorinated dibenzofurans (PCDFs) has been studied in an entrained-flow reactor (EFR) under simulated waste combustion conditions. A chlorination model based on conditional probability was employed to evaluate the homologue patterns of PCDDs and PCDFs. Results revealed that the presence of SO2 did not change the formation pathway although SO2 suppressed PCDD/F formation. The model prediction of PCDF showed good agreement with the experimental data (R=0.95) while the prediction for PCDDs was not as good. This may be explained because potential chlorination pathways play a significant role in PCDF formation, while PCDDs are mainly formed through condensation reactions. Furthermore, the result indicated that the steric hindrance during formation has more effects on PCDD than on PCDF due to the symmetric molecule structures of PCDDs.

  5. Spacecraft Formation Flying near Sun-Earth L2 Lagrange Point: Trajectory Generation and Adaptive Full-State Feedback Control (United States)

    Wong, Hong; Kapila, Vikram


    In this paper, we present a method for trajectory generation and adaptive full-state feedback control to facilitate spacecraft formation flying near the Sun-Earth L2 Lagrange point. Specifically, the dynamics of a spacecraft in the neighborhood of a Halo orbit reveals that there exist quasi-periodic orbits surrounding the Halo orbit. Thus, a spacecraft formation is created by placing a leader spacecraft on a desired Halo orbit and placing follower spacecraft on desired quasi-periodic orbits. To produce a formation maintenance controller, we first develop the nonlinear dynamics of a follower spacecraft relative to the leader spacecraft. We assume that the leader spacecraft is on a desired Halo orbit trajectory and the follower spacecraft is to track a desired quasi-periodic orbit surrounding the Halo orbit. Then, we design an adaptive, full-state feedback position tracking controller for the follower spacecraft providing an adaptive compensation for the unknown mass of the follower spacecraft. The proposed control law is simulated for the case of the leader and follower spacecraft pair and is shown to yield global, asymptotic convergence of the relative position tracking errors.

  6. Study on Effect of Space Perturbations to InSAR Formation Flying%空间摄动对InSAR卫星编队的影响研究

    Institute of Scientific and Technical Information of China (English)

    杜耀珂; 何益康


    According to the characteristics of intermetri synthetic aperture radar (InSAR), the influences of the earth space perturbations such as the earth shape, atmosphere drag, the third-body graritational and solar radiation pressure on the orbit of the satellite were analyzed in this paper. And the influences on the formation flying configuration were discussed by the simulation. The results showed that the earth non-spherical gravitational and atmosphere drag perturbation were the main factors which affect the formation configuration. And the formation flying configuration's change mainly were the cumulated change on the satellite track direction and the formation flying eclipse direction change. The variation of formation flying framework with time was calculated. The study was valuable to the formation flying maintenance control.%针对干涉合成孔径雷达(InSAR)编队卫星的特点,分析了地球形状、大气阻力、第三体引力和太阳光压等空间摄动力对卫星轨道的影响,并仿真讨论其对编队构型的影响。结果表明:地球形状摄动和大气阻力摄动是引起InSAR编队构型变化的主要摄动因素,在这些摄动力的作用下,编队构型的变化主要是沿航迹向的累积变化和编队椭圆的空间指向变化两种,并给出了编队构型随时间的变化量。研究为编队保持控制提供了参考。

  7. Giant planet formation in stellar clusters: the effects of stellar fly-bys

    CERN Document Server

    Fragner, Moritz


    The primary aim of this work is to examine the effect of parabolic stellar encounters on the evolution of a Jovian-mass giant planet forming within a protoplanetary disc. We consider the effect on both the mass accretion and the migration history as a function of encounter distance. We use a grid-based hydrodynamics code to perform 2D simulations of a system consisting of a giant planet embedded within a gaseous disc orbiting around a star, which is perturbed by a passing star on a prograde, parabolic orbit. The disc model extends out to 50 AU, and parabolic encounters are considered with impact parameters ranging from 100 - 250 AU. In agreement with previous work, we find that the disc is significantly tidally truncated for encounters 250 AU, we find that the planet-disc system experiences minimal perturbation. Our results indicate that stellar fly-bys in young clusters may significantly modify the masses and orbital param eters of giant planets forming within protostellar discs. Planets that undergo such e...


    Directory of Open Access Journals (Sweden)

    N. S. Kharina


    Full Text Available This article considers periodicals organizing and management on the territory of Khanty-Mansi Autonomous District at period of 1930-50-ies. The study of periodicals is one of the most important aspects in historical science. At the time of the Soviet Union the press was considered as an important part of ideological work. The study is actual due to lack of general and complex research on that subject. We employed historic, problematic chronological, analytical and statistic comparative methods during the research. The combined use of all methods allows to reveal regional specifics and peculiarities. At the end of study authors concludes that periodicals have dual function: to inform contemporaries about reality and to form an idea of it. This is implemented in every issue through the selection of materials and the attracting of the reader’s attention to various publications. Editions of district and regional newspapers were organs of the Party committees and local Soviets VKP and implemented locally the state policy, mobilized the population in the proclamation of the state goals, and all printed information was the information filtered by editors. The majority of active authors of 1930 – 1960-ies consisted of communist party members. Subject-matters of all newspapers issued on the territory of the District throughout the studied period, varied in accordance with the requirements of the time. Regional newspapers showed the practical implementation of all major economic and political plans on concrete examples and facts, talked about the advanced workers of socialist competition and promoted the best organization of production method ensuring the rise of labor productivity. This article has an attempt to examine the organization of periodicals and their administration of the territory of Khanty-Mansi Autonomous District in 1930-1950s. The work is actual due to lack of general and complex research on that subject. The study used historical

  9. Nonlinear adaptive formation control for a class of autonomous holonomic planetary exploration rovers (United States)

    Ganji, Farid

    This dissertation presents novel nonlinear adaptive formation controllers for a heterogeneous group of holonomic planetary exploration rovers navigating over flat terrains with unknown soil types and surface conditions. A leader-follower formation control architecture is employed. In the first part, using a point-mass model for robots and a Coulomb-viscous friction model for terrain resistance, direct adaptive control laws and a formation speed-adaptation strategy are developed for formation navigation over unknown and changing terrain in the presence of actuator saturation. On-line estimates of terrain frictional parameters compensate for unknown terrain resistance and its variations. In saturation events over difficult terrain, the formation speed is reduced based on the speed of the slowest saturated robot, using internal fleet communication and a speed-adaptation strategy, so that the formation error stays bounded and small. A formal proof for asymptotic stability of the formation system in non-saturated conditions is given. The performance of robot controllers are verified using a modular 3-robot formation simulator. Simulations show that the formation errors reduce to zero asymptotically under non-saturated conditions as is guaranteed by the theoretical proof. In the second part, the proposed adaptive control methodology is extended for formation control of a class of omnidirectional rovers with three independently-driven universal holonomic rigid wheels, where the rovers' rigid-body dynamics, drive-system electromechanical characteristics, and wheel-ground interaction mechanics are incorporated. Holonomic rovers have the ability to move simultaneously and independently in translation and rotation, rendering great maneuverability and agility, which makes them suitable for formation navigation. Novel nonlinear adaptive control laws are designed for the input voltages of the three wheel-drive motors. The motion resistance, which is due to the sinkage of rover

  10. A Memory/Immunology-Based Control Approach with Applications to Multiple Spacecraft Formation Flying

    Directory of Open Access Journals (Sweden)

    Liguo Weng


    Full Text Available This paper addresses the problem of formation control for multiple spacecrafts in Planetary Orbital Environment (POE. Due to the presence of diverse interferences and uncertainties in the outer space, such as the changing spacecraft mass, unavailable space parameters, and varying gravity forces, traditional control methods encounter great difficulties in this area. A new control approach inspired by human memory and immune system is proposed, and this approach is shown to be capable of learning from past control experience and current behavior to improve its performance. It demands much less system dynamic information as compared with traditional controls. Both theoretic analysis and computer simulation verify its effectiveness.

  11. Ambiguity resolution performance with GPS and BeiDou for LEO formation flying (United States)

    Verhagen, Sandra; Teunissen, Peter J. G.


    The evolving BeiDou Navigation Satellite System constellation brings new opportunities for high-precision applications. In this contribution the focus will be on one such application, namely precise and instantaneous relative navigation of a formation of LEO satellites. The aim is to assess the ambiguity resolution performance with the future GPS and BeiDou constellations depending on system choice (GPS, BeiDou, or GPS+BeiDou), single- or dual-frequency observations, receiver noise, and uncertainties in ionosphere modelling. In addition, for the GPS+BeiDou constellation it will be shown how the growing BeiDou constellation in the years to come can already bring an important performance improvement compared to the GPS-only case. The performance will be assessed based on the percentage of time that the required precision can be obtained with a partial ambiguity resolution strategy.

  12. Attack of the Flying Snakes : Formation of Isolated HI Clouds By Fragmentation of Long Streams

    CERN Document Server

    Taylor, R; Jachym, P; Keenan, O; Minchin, R F; Palous, J; Smith, R; Wunsch, R


    The existence of long (> 100 kpc) HI streams and small ( 100 km/s), similar to observed clouds which are otherwise intriguing dark galaxy candidates. We find that producing such features is possible but extremely unlikely, occurring no more than 0.2% of the time in our simulations. In contrast, we find that genuine dark galaxies could be extremely stable to harassment and remain detectable even after 5 Gyr in the cluster environment (with the important caveat that our simulations only explore harassment and do not yet include the intracluster medium, heating and cooling, or star formation). We also discuss the possibility that such objects could be the progenitors of recently discovered ultra diffuse galaxies.

  13. Attack of the flying snakes: formation of isolated H I clouds by fragmentation of long streams (United States)

    Taylor, R.; Davies, J. I.; Jáchym, P.; Keenan, O.; Minchin, R. F.; Palouš, J.; Smith, R.; Wünsch, R.


    The existence of long (>100 kpc) H I streams and small (100 km s-1), similar to observed clouds which are otherwise intriguing dark galaxy candidates. We find that producing such features is possible but extremely unlikely, occurring no more than 0.2% of the time in our simulations. In contrast, we find that genuine dark galaxies could be extremely stable to harassment and remain detectable even after 5 Gyr in the cluster environment (with the important caveat that our simulations only explore harassment and do not yet include the intracluster medium, heating and cooling, or star formation). We also discuss the possibility that such objects could be the progenitors of recently discovered ultra diffuse galaxies.

  14. Formation of calcium aluminates in the lime sinter process. [Extraction of alumina from fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Chou, K.S.


    A study of the formation of several calcium aluminates from pure components in the lime sinter process was undertaken to determine the kinetics of formation and subsequent leaching using a dilute sodium carbonate solution. The composition CaO 61.98%, SiO/sub 2/ 26.67%, and Al/sub 2/O/sub 3/ 11.53% was used. Isothermal sintering runs of 0.2 to 10.0 h were carried out at 1200, 1250, 1300, and 1350/sup 0/C. When the sintering temperature was below the eutectic temperature (1335/sup 0/C), the ternary mixture behaved like two binary systems, i.e. CaO-Al/sub 2/O/sub 3/ and CaO-SiO/sub 2/. Only one compound, 3CaO.SiO/sub 2/, was formed between CaO and SiO/sub 2/. With lower sintering temperature and shorter sintering time, the ..beta..-phase was dominant. However, when both temperature and time increased, more and more of the ..beta..-C/sub 2/S was transformed into the ..gamma..-phase. Several different aluminates were formed during the sintering of CaO and Al/sub 2/O/sub 3/. The compounds CaO.Al/sub 2/O/sub 3/ and 3CaO.Al/sub 2/O/sub 3/ were observed at all tested sintering temperatures, while the 5CaO.3Al/sub 2/O/sub 3/ phase was found only at 1200/sup 0/C and 12CaO.7Al/sub 2/O/sub 3/ at 1250/sup 0/C or higher. The first compound formed between CaO and Al/sub 2/O/sub 3/ was probably 12CaO.7Al/sub 2/O/sub 3/, but the amount did not increase immediately with time. The first dominant compound between CaO and Al/sub 2/O/sub 3/ was CaO.3Al/sub 2/O/sub 3/. When the calcium ion diffused through the product layer of CaO.Al/sub 2/O/sub 3/, 3CaO.Al/sub 2/O/sub 3/ was formed. If unreacted Al/sub 2/O/sub 3/ were present after the formation of CaO.Al/sub 2/O/sub 3/, CaO.2Al/sub 2/O/sub 3/ would form. Subsequent leaching of the sinters showed that the extractable alumina in the products increased with both sintering temperature and time, reaching a max of about 90%. These extraction data corresponded very well to the quantities of aluminates in the sinters. 59 figures, 13 tables.

  15. 6-DOF robust adaptive terminal sliding mode control for spacecraft formation flying (United States)

    Wang, Jianying; Sun, Zhaowei


    This paper addresses the tracking control problem of the leader-follower spacecraft formation, by which we mean that the relative motion between the leader and the follower is required to track a desired time-varying trajectory given in advance. Using dual number, the six-degree-of-freedom motion of the follower spacecraft relative to the leader spacecraft is modeled, where the coupling effect between the translational motion and the rotational one is accounted. A robust adaptive terminal sliding mode control law, including the adaptive algorithms, is proposed to ensure the finite time convergence of the relative motion tracking errors despite the presence of model uncertainties and external disturbances, based on which a modified controller is furthermore developed to solve the dual-equilibrium problem caused by dual quaternion representation. In addition, to alleviate the chattering, hyperbolic tangent function is adopted to substitute for the sign function. And by theoretical analysis, it is proved that the tracking error in such case will converge to a neighborhood of the origin in finite time. Finally, numerical simulations are performed to demonstrate the validity of the proposed approaches.

  16. THEOS-2 Orbit Design: Formation Flying in Equatorial Orbit and Damage Prevention Technique for the South Atlantic Magnetic Anomaly (SAMA) (United States)

    Pimnoo, Ammarin


    Geo-Informatics and Space Technology Development Agency (GISTDA) has initiative THEOS-2 project after the THEOS-1 has been operated for more than 7 years which is over the lifetime already. THEOS-2 project requires not only the development of earth observation satellite(s), but also the development of the area-based decision making solution platform comprising of data, application systems, data processing and production system, IT infrastructure improvement and capacity building through development of satellites, engineering model, and infrastructures capable of supporting research in related fields. The developing satellites in THEOS-2 project are THAICHOTE-2 and THAICHOTE-3. This paper focuses the orbit design of THAICHOTE-2 & 3. It discusses the satellite orbit design for the second and third EOS of Thailand. In this paper, both THAICHOTE will be simulated in an equatorial orbit as a formation flying which will be compared the productive to THAICHOTE-1 (THEOS-1). We also consider a serious issue in equatorial orbit design, namely the issue of the geomagnetic field in the area of the eastern coast of South America, called the South Atlantic Magnetic Anomaly (SAMA). The high-energy particles of SAMA comprise a radiation environment which can travel through THAICHOTE-2 & 3 material and deposit kinetic energy. This process causes atomic displacement or leaves a stream of charged atoms in the incident particles' wake. It can cause damage to the satellite including reduction of power generated by solar arrays, failure of sensitive electronics, increased background noise in sensors, and exposure of the satellite devices to radiation. This paper demonstrates the loss of ionizing radiation damage and presents a technique to prevent damage from high-energy particles in the SAMA.

  17. The Formation of the “Sichuan Model” with Regard to Legislation in Ethnic Autonomous Regions and Its Basic Characteristics

    Institute of Scientific and Technical Information of China (English)

    Chen Enmei


    Ethnic regional autonomy with Chi ̄nese characteristics is a proper way to handle eth ̄nic issues, and is a fundamental national political system established in the Constitution. The legisla ̄tion in ethnic autonomous regions is important,and creates the basic laws for realizing autonomous rights. The legislation in ethnic autonomous re ̄gions is a generic term which refers to the activities that the people’s congresses of the ethnic autono ̄mous regions undertake,to formulate,amend and a ̄bolish autonomous regulations and specific regula ̄tions in accordance with relevant provisions found in the Constitution, the Law of Ethnic Regional Au ̄tonomy and the Law of Legislation, and which are based on local ethnic political, economic and cul ̄tural characteristics.

  18. Safe and Autonomous Drones for Urban Flight (United States)

    Krishnakumar, Kalmanje


    Autonomous vehicles are no longer futuristic technology; in fact, there are already cars with self-driving features on the road. Over the next five years, the connected vehicles will disrupt the entire automotive and UAS ecosystems. The industry will undergo fundamental change as semi-autonomous driving and flying emerges, followed by an eventual shift to full autonomy.

  19. Formative Assessment and the Cultivation of Autonomous Learning Ability%形成性评估与自主学习能力的培养

    Institute of Scientific and Technical Information of China (English)

    喻萍; 饶振辉


    自主学习能力的培养已成为大学英语教学的一个主要目标,然而,传统的终结性评估阻碍了这一目标的实现。对形成性评估和自主学习的理论进行分析,阐述二者间的关系,并讨论了如何在外语教学中应用形成性评估促进学习者自主学习能力的提高。%The cultivation of autonomous learning ability has become a major goal of college English teaching. However,the realization of this objective is obstructed by the traditional summative assess-ment. By analyzing the theories of formative assessment and autonomous learning,this paper elabo-rates their relationship between the two components,and discusses how to carry out the formative as-sessment in foreign language teaching for the purpose of improving learners’autonomous learning a-bility.

  20. [Autonomic neuropathies]. (United States)

    Siepmann, T; Penzlin, A I; Illigens, B M W


    Autonomic neuropathies are a heterogeneous group of diseases that involve damage of small peripheral autonomic Aδ- and C-fibers. Causes of autonomic nerve fiber damage are disorders such as diabetes mellitus and HIV-infection. Predominant symptoms of autonomic neuropathy are orthostatic hypotension, gastro-intestinal problems, urogenital dysfunction, and cardiac arrhythmia, which can severely impair the quality of life in affected patients. Furthermore, autonomic neuropathies can be induced by autoimmune diseases such as acute inflammatory demyelinating polyneuropathy, hereditary disorders such as the lysosomal storage disorder Fabry disease and hereditary sensory and autonomic neuropathies, as well as certain toxins and drugs.

  1. Field Evaluation of Melolure, a Formate Analogue of Cuelure, and Reassessment of Fruit Fly Species Trapped in Sydney, New South Wales, Australia. (United States)

    Dominiak, Bernard C; Campbell, Angus J; Jang, Eric B; Ramsey, Amanda; Fanson, Benjamin G


    In Australia, tephritids are usually attracted to either cuelure or methyl eugenol. Methyl eugenol is a very effective lure, but cuelure is less effective likely due to low volatility. A new formate analogue of cuelure, melolure, has increased volatility, resulting in improved efficacy with the melon fruit fly, Bactrocera cucurbitae Coquillett. We tested the efficacy of melolure with fruit fly species in Sydney as part of the National Exotic Fruit Fly Monitoring programme. This monitoring programme has 71 trap sites across Sydney, with each trap site comprising separate Lynfield traps containing either cuelure, methyl eugenol, or capilure lure. In 2008, an additional Lynfield trap with melolure plugs was added to seven sites. In 2009 and 2010, an additional Lynfield trap with melolure wicks was added to 11 trap sites and traps were monitored fortnightly for 2 yr. Capture rates for melolure traps were similar to cuelure traps for Dacus absonifacies (May) and Dacus aequalis (Coquillet), but melolure traps consistently caught fewer Bactrocera tryoni (Froggatt) than cuelure traps. However, trap sites with both a cuelure and melolure traps had increased capture rates for D. absonifacies and D. aequalis, and a marginally significant increase for B. tryoni. Melolure plugs were less effective than melolure wicks, but this effect may be related to lure concentration. The broader Bactrocera group species were attracted more to cuelure than melolure while the Dacus group species were attracted more to melolure than cuelure. There is no benefit in switching from cuelure to melolure to monitor B. tryoni, the most important fruit fly pest in Australia.

  2. Autonomous Boolean modelling of developmental gene regulatory networks (United States)

    Cheng, Xianrui; Sun, Mengyang; Socolar, Joshua E. S.


    During early embryonic development, a network of regulatory interactions among genes dynamically determines a pattern of differentiated tissues. We show that important timing information associated with the interactions can be faithfully represented in autonomous Boolean models in which binary variables representing expression levels are updated in continuous time, and that such models can provide a direct insight into features that are difficult to extract from ordinary differential equation (ODE) models. As an application, we model the experimentally well-studied network controlling fly body segmentation. The Boolean model successfully generates the patterns formed in normal and genetically perturbed fly embryos, permits the derivation of constraints on the time delay parameters, clarifies the logic associated with different ODE parameter sets and provides a platform for studying connectivity and robustness in parameter space. By elucidating the role of regulatory time delays in pattern formation, the results suggest new types of experimental measurements in early embryonic development. PMID:23034351

  3. Vision in flying insects. (United States)

    Egelhaaf, Martin; Kern, Roland


    Vision guides flight behaviour in numerous insects. Despite their small brain, insects easily outperform current man-made autonomous vehicles in many respects. Examples are the virtuosic chasing manoeuvres male flies perform as part of their mating behaviour and the ability of bees to assess, on the basis of visual motion cues, the distance travelled in a novel environment. Analyses at both the behavioural and neuronal levels are beginning to unveil reasons for such extraordinary capabilities of insects. One recipe for their success is the adaptation of visual information processing to the specific requirements of the behavioural tasks and to the specific spatiotemporal properties of the natural input.

  4. Flying Scared

    DEFF Research Database (Denmark)

    Dal Sie, Marco; Josiassen, Alexander

    service quality expectations and fear of flying affect travellers' flight choices on long-haul flights. The study was set in Bangkok and primary data were obtained from a large sample of travelers departing from Suvarnabhumi Airport. While service quality emerged as a relevant factor, fear of flying didn...

  5. Probing the Initial Conditions of Clustered Star Formation -- Large Scale On-the-Fly Mapping of Orion B at FCRAO

    CERN Document Server

    Ridge, N A; Megeath, S T; Ridge, Naomi A.; Bergin, Edwin A.


    In order to obtain a census of the pre-stellar and star-forming molecular cores, we have begun an unbiased survey in CS and N2H+ of the L1630 and L1641 molecular clouds. The use of these two molecular species enables us to quantify and disentangle the effects of depletion often seen in CS observations of dense cores. The spectral line data will provide essential kinematical information not present in similar studies of the sub-millimeter dust-continuum, enabling us to examine the overall core to core velocity dispersion and study the effects of infall and outflows around known sub-mm and infra-red sources. Here we present our initial observations of part of L1630, taken during the commissioning phase of the FCRAO On-the-Fly Mapping system in January 2002.

  6. Autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J


    The diagnosis of autonomic neuropathy is often difficult to establish, since clinical symptoms generally appear late in the course of the disease, and may be non-specific. A number of recently developed quantifiable and reproducible autonomic nerve function tests are reviewed, with emphasis on th...


    Directory of Open Access Journals (Sweden)

    Anet Yuriria de Jesús López-Corrales


    Full Text Available Based on the mission and vision of Indigenous Autonomous University of Mexico the idea to form a Corps Academic Degree in Accounting education program, whose mission is to develop the culture of research in each of the Education Facilitators and the Academic Headlines accounting education Program, the development of knowledge by placing a high priority for intellectual contribution to research work of quality that allows the local as well as regional development through intercultural education in accounting, administrative and fiscal area. It is intended to be a group of researchers with local and regional recognition, with input from research in intercultural education to implement the updates of concepts, methods and techniques of accounting area and application thereof, committed with small and medium enterprises region, both in administration as a prosecutor.

  8. Deposit formation in a full-scale pulverized wood-fired power plant with and without coal fly ash addition

    DEFF Research Database (Denmark)

    Wu, Hao; Shafique Bashir, Muhammad; Jensen, Peter Arendt


    temperatures of ~1300oC and ~800oC, respectively. It was found that during pulverized wood combustion, the deposit formation at the hightemperature location was characterized by a slow and continuous growth of deposits followed by the shedding of a large layer of deposits, while the deposit formation...

  9. Autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J


    In order to elucidate the physiological significance of autonomic neuropathy in juvenile diabetics, cardiovascular, hormonal and metabolic functions have been investigated in three groups of juvenile diabetics: One group had no signs of neuropathy, one group had presumably slight autonomic...... neuropathy (reduced beat-to-beat variation in heart rate during hyperventilation) and one group had clinically severe autonomic neuropathy, defined by presence of orthostatic hypotension. In all three experimental situations we found sympathetic dysfunction causing cardiovascular and/or hormonal...... maladjustments in patients with autonomic neuropathy. Regarding metabolic functions we found normal responses to graded exercise and insulin-induced hypoglycemia in patients with autonomic neuropathy in spite of blunted catecholamine responses, suggesting increased sensitivity of glycogen stores and adipose...

  10. Fly ash quality and utilization

    Energy Technology Data Exchange (ETDEWEB)

    Barta, L.E.; Lachner, L.; Wenzel, G.B. [Inst. for Energy, Budapest (Hungary); Beer, M.J. [Massachusetts Inst. of Technology, Cambridge, MA (United States)


    The quality of fly ash is of considerable importance to fly ash utilizers. The fly ash puzzolanic activity is one of the most important properties that determines the role of fly ash as a binding agent in the cementing process. The puzzolanic activity, however is a function of fly ash particle size and chemical composition. These parameters are closely related to the process of fly ash formation in pulverized coal fired furnaces. In turn, it is essential to understand the transformation of mineral matter during coal combustion. Due to the particle-to-particle variation of coal properties and the random coalescence of mineral particles, the properties of fly ash particles e.g. size, SiO{sub 2} content, viscosity can change considerably from particle to particle. These variations can be described by the use of the probability theory. Since the mean values of these randomly changing parameters are not sufficient to describe the behavior of individual fly ash particles during the formation of concrete, therefore it is necessary to investigate the distribution of these variables. Examples of these variations were examined by the Computer Controlled Scanning Electron Microscopy (CCSEM) for particle size and chemical composition for Texas lignite and Eagel Butte mineral matter and fly ash. The effect of combustion on the variations of these properties for both the fly ash and mineral matter were studied by using a laminar flow reactor. It is shown in our paper, that there are significant variations (about 40-50% around the mean values) of the above-listed properties for both coal samples. By comparing the particle size and chemical composition distributions of the mineral matter and fly ash, it was possible to conclude that for the Texas lignite mineral matter, the combustion did not effect significantly the distribution of these properties, however, for the Eagel Butte coal the combustion had a major impact on these mineral matter parameters.

  11. Research on Key Techniques of Unmanned Aerial Vehicle Formation Flying Scene Simulation%无人机编队飞行视景仿真关键技术研究

    Institute of Scientific and Technical Information of China (English)

    郭立普; 魏瑞轩; 侯海平; 张立鹏


    Aiming at the problems that the real Unmanned Aerial Vehicle(UAV) formation flying will raise experimental risk and cost, and other scene tapping facilities such as OpenGL have weak code portability and low executing efficiency, a virtual validating platform based on Vega is proposed. The demand of UAV formation flying scene simulation system is analyzed. Using the technical method which combines the 3D model drivers of Vega and the agility control of MFC, the formation flying simulation techniques such as cooperating mechanism of multi-UAV flying simulated data communication and real-time control, display, recording and redisplay on formation flying are studied. Simulation results prove that the system has high fidelity, welt real-time capability, strong portability and reliability of data transfer.%针对真实无人机编队飞行实验成本及风险较高的问题,提出一种基于Vega的虚拟验证平台,以克服OpenGL等视景开发工具代码可移植性较差、执行效率较低等缺点.分析无人机编队飞行视景仿真的系统需求,采用Vega的三维模型驱动与MFC灵活控制相结合的方法,研究多机飞行中的协同机制、仿真数据通信、编队飞行的实时控制、显示、记录与回放等编队仿真技术.结果证明,该虚拟验证平台仿真度高、实时性好、可移植性强、数据传输可靠.

  12. Time flies

    DEFF Research Database (Denmark)

    Wit, Janneke

    , the LS fly might be able to spend energy more generously on different tasks. Therefor, the capacity of LS and C lines to locate resources in a natural environment was tested. It turns out that LS flies are less likely to find food than C flies in such a setting, yet that as they age, their ability...... to locate food decreases slower than that of C lines. Gene expression of 10 candidate genes for longevity was quantified in two types of C and LS lines at three different ages. One of these genes, CG32638, indeed appears to be involved in life span determination in both males and females, regardless...... of mating status. Generalising studies on ageing in D. melanogaster can be cumbersome, especially in light of discrepancy between correlated responses between studies. To elucidate which mechanisms might be conserved due to evolutionary constraints, life span of 13 species of Drosophila was determined...

  13. Multicopter Design Challenge: Design, Fly, and Learn (United States)

    Sutton, Kevin G.; Busby, Joe R.; Kelly, Daniel P.


    A great deal of the nation's attention has turned to the sky as new technologies open the door for new opportunities with unmanned aerial vehicles (UAVs). UAVs are powered aerial vehicles that do not carry an operator, use aerodynamic forces to provide vehicle lift, and can fly autonomously or be piloted remotely. As people become accustomed to…

  14. Field evaluation of melolure, a formate analogue of cuelure and reassessment of fruit fly species trapped in Sydney, New South Wales, Australia (United States)

    Fruit fly surveillance programmes rely on the use of chemical lures to monitor and control Tephritid fruit flies incursions. Significant economic advantages could be achieved by increasing the effectiveness of these chemical lures. In Australia, tephritids are usually attracted to either cuelure (CL...

  15. Zeolite formation from coal fly ash and heavy metal ion removal characteristics of thus-obtained Zeolite X in multi-metal systems. (United States)

    Jha, Vinay Kumar; Nagae, Masahiro; Matsuda, Motohide; Miyake, Michihiro


    Zeolitic materials have been prepared from coal fly ash as well as from a SiO(2)-Al(2)O(3) system upon NaOH fusion treatment, followed by subsequent hydrothermal processing at various NaOH concentrations and reaction times. During the preparation process, the starting material initially decomposed to an amorphous form, and the nucleation process of the zeolite began. The carbon content of the starting material influenced the formation of the zeolite by providing an active surface for nucleation. Zeolite A (Na-A) was transformed into zeolite X (Na-X) with increasing NaOH concentration and reaction time. The adsorption isotherms of the obtained Na-X based on the characteristics required to remove heavy ions such as Ni(2+), Cu(2+), Cd(2+) and Pb(2+) were examined in multi-metal systems. Thus obtained experimental data suggests that the Langmuir and Freundlich models are more accurate compared to the Dubinin-Kaganer-Radushkevich (DKR) model. However, the sorption energy obtained from the DKR model was helpful in elucidating the mechanism of the sorption process. Further, in going from a single- to multi-metal system, the degree of fitting for the Freundlich model compared with the Langmuir model was favored due to its basic assumption of a heterogeneity factor. The Extended-Langmuir model may be used in multi-metal systems, but gives a lower value for equilibrium sorption compared with the Langmuir model.

  16. Results of PRISMA/FFIORD extended mission and applicability to future formation flying and active debris removal missions (United States)

    Delpech, Michel; Berges, Jean-Claude; Karlsson, Thomas; Malbet, Fabien


    CNES performed several experiments during the extended PRISMA mission which started in August 2011. A first session in October 2011 addressed two objectives: 1) demonstrate angles-only navigation to rendezvous with a non-cooperative object; 2) exercise transitions between RF-based and vision-based control during final formation acquisition. A complementary experiment in September 2012 mimicked some future astrometry mission and implemented the manoeuvres required to point the two satellite axis to a celestial target and maintain it fixed during some observation period. In the first sections, the paper presents the experiment motivations, describes its main design features including the guidance and control algorithms evolutions and provides a synthesis of the most significant results along with a discussion of the lessons learned. In the last part, the paper evokes the applicability of these experiment results to some active debris removal mission concept that is currently being studied.

  17. Effect of fly ash on VAM formation and growth response of pulse crops infested with Glomus aggregatum in sterile soil

    Energy Technology Data Exchange (ETDEWEB)

    Reddy, C.N.; Garampalli, H.R. [Gulbarga University, Gulbarga (India). Dept. of P.G. Studies and Research in Botany


    The effect of flyash amendment at 3 concentrations (10%, 20% and 30%) on the infectivity and efficacy of Glomus aggregatum was studied by conducting a pot culture experiment with sterile low fertile soil using pigeon pea (Cajanus cagan (L.) Millsp.) Cv. Maruti and Chick pea (Cicer ariteinum L.) Cv. Annigeri, the two pulse crop cultivars of this region. It is evident from the present investigation that the percent vesicular arbuscular mycorrhiza, VAM colonization in both the crops significantly decreased with the increase of flyash content in the soil. The formation of VAM fungal structures (vesicles and arbuscules) inside the host root was also found completely suppressed at higher concentrations of flyash. The effectiveness of G. aggregatum under the influence of flyash was found significantly affected as compared to control, when judged by the growth response of pigeon pea. However in chickpea VAM association could slightly increase the growth over its control. Flyash amendment alone also has shown positive influence on the growth of both the crops over their controls (without VAM association). This influence of flyash amendment together with the usefulness of VAM fungi, as bioremediation agents can be exploited suitably in reclamation of waste lands and soils overburdened with flyash. 40 refs., 3 tabs.

  18. Flying Cities

    DEFF Research Database (Denmark)

    Herbelin, Bruno; Lasserre, Sebastien; Ciger, Jan


    Flying Cities is an artistic installation which generates imaginary cities from the speech of its visitors. Thanks to an original interactive process analyzing people's vocal input to create 3D graphics, a tangible correspondence between speech and visuals opens new possibilities of interaction. ...... and a potential application. We believe that it could become a new medium for creativity, and a way to visually perceive a vocal performance in the context of the rehabilitation of people with reduced mobility or language impairments....

  19. Zeolite formation from coal fly ash and heavy metal ion removal characteristics of thus-obtained Zeolite X in multi-metal systems

    Energy Technology Data Exchange (ETDEWEB)

    Jha, V.K.; Nagae, M.; Matsuda, M.; Miyake, M. [Okayama University, Okayama (Japan). Dept. of Material & Energy Science


    Zeolitic materials have been prepared from coal fly ash as well as from a SiO{sub 2}-Al{sub 2}O{sub 3} system upon NaOH fusion treatment, followed by subsequent hydrothermal processing at various NaOH concentrations and reaction times. During the preparation process, the starting material initially decomposed to an amorphous form, and the nucleation process of the zeolite began. The carbon content of the starting material influenced the formation of the zeolite by providing an active surface for nucleation. Zeolite A (Na-A) was transformed into zeolite X (Na-X) with increasing NaOH concentration and reaction time. The adsorption isotherms of the obtained Na-X based on the characteristics required to remove heavy ions such as Ni{sup 2+}, Cu{sup 2+}, Cd{sup 2+} and Pb{sup 2+} were examined in multi-metal systems. Thus obtained experimental data suggests that the Langmuir and Freundlich models are more accurate compared to the Dubinin-Kaganer-Radushkevich (DKR) model. However, the sorption energy obtained from the DKR model was helpful in elucidating the mechanism of the sorption process. Further, in going from a single- to multi-metal system, the degree of fitting for the Freundlich model compared with the Langmuir model was favored due to its basic assumption of a heterogeneity factor. The Extended-Langmuir model may be used in multi-metal systems, but gives a lower value for equilibrium sorption compared with the Langmuir model.

  20. Flying Cities

    DEFF Research Database (Denmark)

    Ciger, Jan


    of providing a tangible correspondence between the two spaces. This interaction mean has proved to suit the artistic expression well but it also aims at providing anyone with a pleasant and stimulating feedback from speech activity, a new medium for creativity and a way to visually perceive a vocal performance....... As the feedback we have received when presenting Flying Cities was very positive, our objective now is to cross the bridge between art and the potential applications to the rehabilitation of people with reduced mobility or for the treatment of language impairments....

  1. Flying Fortress

    Institute of Scientific and Technical Information of China (English)


    当欧洲的年轻人想到关于德国的两种熊,一个是传统的布娃娃熊,另一个就是充满欧洲街头墙上的Teddy熊涂鸦,而这个涂鸦熊的创作者就是著名的涂鸦艺术家“Flying Fortress”,他称这些熊军队为“Teddy Tmops”。

  2. Autonomous Search

    CERN Document Server

    Hamadi, Youssef; Saubion, Frédéric


    Decades of innovations in combinatorial problem solving have produced better and more complex algorithms. These new methods are better since they can solve larger problems and address new application domains. They are also more complex which means that they are hard to reproduce and often harder to fine-tune to the peculiarities of a given problem. This last point has created a paradox where efficient tools are out of reach of practitioners. Autonomous search (AS) represents a new research field defined to precisely address the above challenge. Its major strength and originality consist in the

  3. 卫星编队飞行碰撞预警策略仿真研究%Simulation of Collision Forecast Strategy of Formation-flying Satellites

    Institute of Scientific and Technical Information of China (English)

    杨雪榕; 陈忠贵; 梁加红


    The simulation scenario was proposed,for the collision monitoring problem of the formation-flying satellites,which were on the near-earth circular orbits.The strategy based on the quasi maximum instantaneous collision probability(Q-MICP) was proposed and validated by several typical simulation scenarios.The calculation of the Q-MICP needed derivation of the minimum distance and happened epoch in the early-warning time period.The scaled step-size directly approaching(SSDA) algorithm was proposed creatively,based on the analysis of the derived function of the squared distance,for the pole searching of the function.It could solve the problem of the minimum distance's acquisition.The simulation for typical orbits results show that the collision monitoring strategy is effective and the SSDA algorithm is fit for the online calculation.The method can be good material and reference for the collision monitoring problems.%针对近地圆轨道编队卫星碰撞预警问题,建立了仿真想定。提出了以拟最大瞬时碰撞概率为检测指标的碰撞预警策略,利用典型轨道仿真验证了策略的有效性。拟最大瞬时碰撞概率的计算,需要求解预警时间段内编队卫星间的最小距离和发生时刻。通过对距离平方的导数函数的分析,提出了一种变尺度直接逼近算法,用于寻找距离函数的极点,从而完成极小值的求解。对典型轨道的仿真结果显示:变尺度直接逼近算法能够完成距离函数最小值的求解。的研究成果将对卫星编队碰撞预警的工程化提供有益的参考。

  4. HiRISE/NEOCE: an ESA M5 formation flying proposed mission combining high resolution and coronagraphy for ultimate observations of the chromosphere, corona and interface (United States)

    Damé, Luc; Von Fay-Siebenburgen (Erdélyi), Robert


    The global understanding of the solar environment through the magnetic field emergence and dissipation, and its influence on Earth, is at the centre of the four major thematics addressed by HiRISE/NEOCE (High Resolution Imaging and Spectroscopy Explorer/New Externally Occulted Coronagraph Experiment). They are interlinked and also complementary: the internal structure of the Sun determines the surface activity and dynamics that trigger magnetic field structuring which evolution, variation and dissipation will, in turn, explain the coronal heating onset and the major energy releases that feed the influence of the Sun on Earth. The 4 major themes of HiRISE/NEOCE are: - fine structure of the chromosphere-corona interface by 2D spectroscopy in FUV at very high resolution; - coronal heating roots in inner corona by ultimate externally-occulted coronagraphy; - resolved and global helioseismology thanks to continuity and stability of observing at L1 Lagrange point; - solar variability and space climate with a global comprehensive view of UV variability as well. Recent missions have shown the definite role of waves and of the magnetic field deep in the inner corona, at the chromosphere-corona interface, where dramatic changes occur. The dynamics of the chromosphere and corona is controlled by the emerging magnetic field, guided by the coronal magnetic field. Accordingly, the direct measurement of the chromospheric and coronal magnetic fields is of prime importance. This is implemented in HiRISE/NEOCE, to be proposed for ESA M5 ideally placed at the L1 Lagrangian point, providing FUV imaging and spectro-imaging, EUV and XUV imaging and spectroscopy, and ultimate coronagraphy by a remote external occulter (two satellites in formation flying 375 m apart minimizing scattered light) allowing to characterize temperature, densities and velocities up to the solar upper chromosphere, transition zone and inner corona with, in particular, 2D very high resolution multi

  5. Autonomous operations through onboard artificial intelligence (United States)

    Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.


    The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

  6. A mission planner for an autonomous tractor

    DEFF Research Database (Denmark)

    Bochtis, Dionysis; Vougioukas, S.G.; Griepentrog, Hans W.


    In this article, a mission planner of field coverage operations for an autonomous agricultural tractor is presented. Missions for a particular autonomous tractor are defined using an XML (extendible markup language) formatted file that can be uploaded to the tractor through the user interface...

  7. Diabetic autonomic neuropathy. (United States)

    Freeman, Roy


    Diabetes mellitus is the commonest cause of an autonomic neuropathy in the developed world. Diabetic autonomic neuropathy causes a constellation of symptoms and signs affecting cardiovascular, urogenital, gastrointestinal, pupillomotor, thermoregulatory, and sudomotor systems. Several discrete syndromes associated with diabetes cause autonomic dysfunction. The most prevalent of these are: generalized diabetic autonomic neuropathy, autonomic neuropathy associated with the prediabetic state, treatment-induced painful and autonomic neuropathy, and transient hypoglycemia-associated autonomic neuropathy. These autonomic manifestations of diabetes are responsible for the most troublesome and disabling features of diabetic peripheral neuropathy and result in a significant proportion of the mortality and morbidity associated with the disease.

  8. A 10-gram Vision-based Flying Robot


    Zufferey, Jean-Christophe; Klaptocz, Adam; Beyeler, Antoine; Nicoud, Jean-Daniel; Floreano, Dario


    We aim at developing ultralight autonomous microflyers capable of freely flying within houses or small built environments while avoiding collisions. Our latest prototype is a fixed-wing aircraft weighing a mere 10 g, flying around 1.5 m/s and carrying the necessary electronics for airspeed regulation and lateral collision avoidance. This microflyer is equipped with two tiny camera modules, two rate gyroscopes, an anemometer, a small microcontroller, and a Bluetooth rad...

  9. Autonomous Ornithopter Flight with Sensor-Based Seeking Behavior



    This thesis presents the design of autonomous flight control algorithms for a flapping-wing aerial robot with onboard sensing and computational resources. We use a 13 gram ornithopter with biologically inspired clap-and-fling mechanism. For autonomous flight control, we have developed 1.0 gram control electronics integrated with a microcontroller, inertial and visual sensors, communication electronics, and motor drivers. We have also developed a simplified aerodynamic model of ornithopter fli...

  10. Science, technology and the future of small autonomous drones


    Floreano, Dario; Wood, Robert J.


    We are witnessing the advent of a new era of robots — drones — that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intel...

  11. Textural and structural features, composition and formation conditions of arenaceous rocks in PK1 horizon, Pokursk suite in south-eastern Pur-Tazovsk area (Yamalo-Nenets Autonomous Territory) (United States)

    Nedolivko, N.; Perevertailo, T.; Barkalova, A.; Dolgaya, T.


    Terrigenous deposits of the productive PK1 horizon in Pokursk suite of Pur-Tazovsk area (Yamalo-Nenets Autonomous Territory) were studied to specify the structure and identify the formation features. Complex horizon structure of sequential silt, mudrock interbedding and alternation has been identified. Littoral-marine type of sedimentation (occurring during the total marine transgression increase) by the help of genetic rock features identified during the core sampling and by the granulometry and X-ray-phase results analysis has been determined.

  12. Mineralogy of the hardpan formation processes in the interface between sulfide-rich sludge and fly ash: Applications for acid mine drainage mitigation

    Energy Technology Data Exchange (ETDEWEB)

    Perez-Lopez, R.; Nieto, J.M.; Alvarez-Valero, A.M.; De Almodovar, G.R. [University of Huelva, Huelva (Spain). Dept. of Geology


    In the present study, experiments in non-saturated leaching columns were conducted to characterize the neoformed phases that precipitate at the interface between two waste residues having different chemical characteristics: an acid mine drainage producer residue (i.e., pyritic sludge) and an acidity neutralizer residue (i.e., coal combustion fly ash). A heating source was placed on top of one of the columns to accelerate oxidation and precipitation of newly formed phases, and thus, to observe longer-scale processes. When both residues are deposited together, the resulting leachates are characterized by alkaline pH, and low sulfate and metal concentrations. Two mechanisms help to improve the quality of the leachates. Over short-time scales, the leaching of pyrite at high pH (as a consequence of fly ash addition) favors the precipitation of ferrihydrite, encapsulating the pyrite grains and attenuating the oxidation process. Over longer time scales, a hardpan is promoted at the interface between both residues due to the precipitation of ferrihydrite, jarosite, and a Ca phase-gypsum or aragonite, depending on carbonate ion activity. Geochemical modeling of leachates using PHREEQC software predicted supersaturation in the observed minerals. The development of a relatively rigid crust at the interface favors the isolation of the mining waste from weathering processes, helped by the cementation of fly ash owing to aragonite precipitation, which ensures total isolation and neutralization of the mine residues.

  13. Estimating Orientation of Flying Fruit Flies.

    Directory of Open Access Journals (Sweden)

    Xi En Cheng

    Full Text Available The recently growing interest in studying flight behaviours of fruit flies, Drosophila melanogaster, has highlighted the need for developing tools that acquire quantitative motion data. Despite recent advance of video tracking systems, acquiring a flying fly's orientation remains a challenge for these tools. In this paper, we present a novel method for estimating individual flying fly's orientation using image cues. Thanks to the line reconstruction algorithm in computer vision field, this work can thereby focus on the practical detail of implementation and evaluation of the orientation estimation algorithm. The orientation estimation algorithm can be incorporated into tracking algorithms. We rigorously evaluated the effectiveness and accuracy of the proposed algorithm by running experiments both on simulation data and on real-world data. This work complements methods for studying the fruit fly's flight behaviours in a three-dimensional environment.

  14. Flying insects and Campylobacter

    DEFF Research Database (Denmark)

    Hald, Birthe; Sommer, Helle Mølgaard; Skovgård, Henrik

    to broiler houses may be counted in thousands per broiler rotation during summer periods, even a low prevalence of Campylobacter positive flies constitute a risk of introduction of Campylobacter to the chickens. M. domestica – the house fly is the most important vector fly for Campylobacter transmission...... organisms, which may collect on their bodies or survive passage through the fly gut. Campylobacter and other pathogens are then easily transferred to other surfaces, for instance peoples food – or to broiler houses where they may be swallowed by chickens or contaminate the environment. On a large material...... of several species of flies collected outside broiler houses, merely ~1% of the flies were found Campylobacter positive. However, the prevalence varied considerably with fly species, time of the year, and availability of Campylobacter sources. Influx of flies to broiler houses As the influx of flies...

  15. Science, technology and the future of small autonomous drones. (United States)

    Floreano, Dario; Wood, Robert J


    We are witnessing the advent of a new era of robots - drones - that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

  16. Science, technology and the future of small autonomous drones (United States)

    Floreano, Dario; Wood, Robert J.


    We are witnessing the advent of a new era of robots -- drones -- that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

  17. Opening Ceremony of American Flying Tiger Guilin Heritage Park Held

    Institute of Scientific and Technical Information of China (English)

    Li; Sanghua; Ba; Cuicui; Jin; Hanghang


    On March 28,Chinese Vice Premier Liu Yandong attended the opening of the Flying Tiger Guilin Heritage Park in Guilin,southwest China’s Guangxi Zhuang Autonomous Region whose construction started in July 2011.Located at the former site of Yang Tang Airport,it has such historical relics as the Command Post

  18. Towards autonomous vehicular clouds

    Directory of Open Access Journals (Sweden)

    Stephan Olariu


    Full Text Available The dawn of the 21st century has seen a growing interest in vehicular networking and its myriad potential applications. The initial view of practitioners and researchers was that radio-equipped vehicles could keep the drivers informed about potential safety risks and increase their awareness of road conditions. The view then expanded to include access to the Internet and associated services. This position paper proposes and promotes a novel and more comprehensive vision namely, that advances in vehicular networks, embedded devices and cloud computing will enable the formation of autonomous clouds of vehicular computing, communication, sensing, power and physical resources. Hence, we coin the term, autonomous vehicular clouds (AVCs. A key feature distinguishing AVCs from conventional cloud computing is that mobile AVC resources can be pooled dynamically to serve authorized users and to enable autonomy in real-time service sharing and management on terrestrial, aerial, or aquatic pathways or theaters of operations. In addition to general-purpose AVCs, we also envision the emergence of specialized AVCs such as mobile analytics laboratories. Furthermore, we envision that the integration of AVCs with ubiquitous smart infrastructures including intelligent transportation systems, smart cities and smart electric power grids will have an enormous societal impact enabling ubiquitous utility cyber-physical services at the right place, right time and with right-sized resources.

  19. Intelligent agents: adaptation of autonomous bimodal microsystems (United States)

    Smith, Patrice; Terry, Theodore B.


    Autonomous bimodal microsystems exhibiting survivability behaviors and characteristics are able to adapt dynamically in any given environment. Equipped with a background blending exoskeleton it will have the capability to stealthily detect and observe a self-chosen viewing area while exercising some measurable form of selfpreservation by either flying or crawling away from a potential adversary. The robotic agent in this capacity activates a walk-fly algorithm, which uses a built in multi-sensor processing and navigation subsystem or algorithm for visual guidance and best walk-fly path trajectory to evade capture or annihilation. The research detailed in this paper describes the theoretical walk-fly algorithm, which broadens the scope of spatial and temporal learning, locomotion, and navigational performances based on optical flow signals necessary for flight dynamics and walking stabilities. By observing a fly's travel and avoidance behaviors; and, understanding the reverse bioengineering research efforts of others, we were able to conceptualize an algorithm, which works in conjunction with decisionmaking functions, sensory processing, and sensorimotor integration. Our findings suggest that this highly complex decentralized algorithm promotes inflight or terrain travel mobile stability which is highly suitable for nonaggressive micro platforms supporting search and rescue (SAR), and chemical and explosive detection (CED) purposes; a necessity in turbulent, non-violent structured or unstructured environments.

  20. Autoimmune autonomic disorders. (United States)

    Mckeon, Andrew; Benarroch, Eduardo E


    Autoimmune autonomic disorders occur because of an immune response directed against sympathetic, parasympathetic, and enteric ganglia, autonomic nerves, or central autonomic pathways. In general, peripheral autoimmune disorders manifest with either generalized or restricted autonomic failure, whereas central autoimmune disorders manifest primarily with autonomic hyperactivity. Some autonomic disorders are generalized, and others are limited in their anatomic extent, e.g., isolated gastrointestinal dysmotility. Historically, these disorders were poorly recognized, and thought to be neurodegenerative. Over the last 20 years a number of autoantibody biomarkers have been discovered that have enabled the identification of certain patients as having an autoimmune basis for either autonomic failure or hyperactivity. Peripheral autoimmune autonomic disorders include autoimmune autonomic ganglionopathy (AAG), paraneoplastic autonomic neuropathy, and acute autonomic and sensory neuropathy. AAG manifests with acute or subacute onset of generalized or selective autonomic failure. Antibody targeting the α3 subunit of the ganglionic-type nicotinic acetylcholine receptor (α3gAChR) is detected in approximately 50% of cases of AAG. Some other disorders are characterized immunologically by paraneoplastic antibodies with a high positive predictive value for cancer, such as antineuronal nuclear antibody, type 1 (ANNA-1: anti-Hu); others still are seronegative. Recognition of an autoimmune basis for autonomic disorders is important, as their manifestations are disabling, may reflect an underlying neoplasm, and have the potential to improve with a combination of symptomatic and immune therapies.

  1. Autonomous and nonautonomous regulation of axis formation by antagonistic signaling via 7-span cAMP receptors and GSK3 in Dictyostelium. (United States)

    Ginsburg, G T; Kimmel, A R


    Early during Dictyostelium development a fundamental cell-fate decision establishes the anteroposterior (prestalk/prespore) axis. Signaling via the 7-transmembrane cAMP receptor CAR4 is essential for creating and maintaining a normal pattern; car4-null alleles have decreased levels of prestalk-specific mRNAs but enhanced expression of prespore genes. car4- cells produce all of the signals required for prestalk differentiation but lack an extracellular factor necessary for prespore differentiation of wild-type cells. This secreted factor decreases the sensitivity of prespore cells to inhibition by the prestalk morphogen DIF-1. At the cell autonomous level, CAR4 is linked to intracellular circuits that activate prestalk but inhibit prespore differentiation. The autonomous action of CAR4 is antagonistic to the positive intracellular signals mediated by another cAMP receptor, CAR1 and/or CAR3. Additional data indicate that these CAR-mediated pathways converge at the serine/threonine protein kinase GSK3, suggesting that the anterior (prestalk)/posterior (prespore) axis of Dictyostelium is regulated by an ancient mechanism that is shared by the Wnt/Fz circuits for dorsoventral patterning during early Xenopus development and establishing Drosophila segment polarity.

  2. Autonomic Nervous System Disorders (United States)

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  3. Design, aerodynamics and autonomy of the DelFly. (United States)

    de Croon, G C H E; Groen, M A; De Wagter, C; Remes, B; Ruijsink, R; van Oudheusden, B W


    One of the major challenges in robotics is to develop a fly-like robot that can autonomously fly around in unknown environments. In this paper, we discuss the current state of the DelFly project, in which we follow a top-down approach to ever smaller and more autonomous ornithopters. The presented findings concerning the design, aerodynamics and autonomy of the DelFly illustrate some of the properties of the top-down approach, which allows the identification and resolution of issues that also play a role at smaller scales. A parametric variation of the wing stiffener layout produced a 5% more power-efficient wing. An experimental aerodynamic investigation revealed that this could be associated with an improved stiffness of the wing, while further providing evidence of the vortex development during the flap cycle. The presented experiments resulted in an improvement in the generated lift, allowing the inclusion of a yaw rate gyro, pressure sensor and microcontroller onboard the DelFly. The autonomy of the DelFly is expanded by achieving (1) an improved turning logic to obtain better vision-based obstacle avoidance performance in environments with varying texture and (2) successful onboard height control based on the pressure sensor.

  4. [Trigeminal autonomic cephalgias]. (United States)

    Maximova, M Yu; Piradov, M A; Suanova, E T; Sineva, N A


    Review of literature on the trigeminal autonomic cephalgias are presented. Trigeminal autonomic cephalgias are primary headaches with phenotype consisting of trigeminal pain with autonomic sign including lacrimation, rhinorrhea and miosis. Discussed are issues of classification, pathogenesis, clinical picture, diagnosis, differential diagnosis and treatment of this headache. Special attention is paid to cluster headache, paroxysmal hemicrania, SUNCT syndrome, hemicrania continua.

  5. Intra-satellite Baseline Measurment Via Asynchronous Communication Link of Autonomous Formation Flyer%基于异步通信链路的AFF星间基线测量技术研究

    Institute of Scientific and Technical Information of China (English)

    李雪; 张其善; 习清伶; 钟兴旺; 熊之凡


    星间基线的精密测量是自主编队航天器(AFF:Autonomous Formation Flyer)实现多星协同任务的关键技术.基于CCSDS Proximity -1协议,提出一种在AFF下星间全双工通信链路中利用双向异步传输帧实现非相干扩频测距和时间同步的方法,给出算法的计算公式和理论误差模型.技术验证系统的实验结果表明提出的方法性能指标先进、信道资源利用率高、功能集成度高.

  6. Fly ash-reinforced thermoplastic starch composites

    Energy Technology Data Exchange (ETDEWEB)

    Ma, X.F.; Yu, J.G.; Wang, N. [Tianjin University, Tianjin (China). School of Science


    As a by-product from the combustion of pulverized coal, fly ash was, respectively, used as the reinforcement for formamide and urea-plasticized thermoplastic starch (FUPTPS) and glycerol-plasticized thermoplastic starch (GPTPS). The introduction of fly ash improved tensile stress from 4.56 MPa to 7.78 MPa and Youngs modulus increased trebly from 26.8 MPa to 84.6 MPa for fly ash-reinforced FUPTPS (A-FUPTPS), while tensile stress increased from 4.55 MPa to 12.86 MPa and Youngs modulus increased six times from 76.4 MPa to 545 MPa for fly ash-reinforced GPTPS (A-GPTPS). X-ray diffractograms illustrated that fly ash destroyed the formation of starch ordered crystal structure, so both A-GPTPS and FUPTPS could resist the starch re-crystallization (retrogradation). Also fly ash improved water resistance of TPS. As shown by rheology, during the thermoplastic processing, the extruder screw speed effectively adjusted the flow behavior of A-FUPTPS, while the increasing of the processing temperature effectively ameliorated the flow behavior of A-GPTPS. However, superfluous ash contents (e.g., 20 wt%) worsened processing fluidity and resulted in the congregation of fly ash in FUPTPS matrix (tested by SEM) rather than in GPTPS matrix. This congregation decreased the mechanical properties and water resistance of the materials.

  7. The autonomic laboratory (United States)

    Low, P. A.; Opfer-Gehrking, T. L.


    The autonomic nervous system can now be studied quantitatively, noninvasively, and reproducibly in a clinical autonomic laboratory. The approach at the Mayo Clinic is to study the postganglionic sympathetic nerve fibers of peripheral nerve (using the quantitative sudomotor axon reflex test [QSART]), the parasympathetic nerves to the heart (cardiovagal tests), and the regulation of blood pressure by the baroreflexes (adrenergic tests). Patient preparation is extremely important, since the state of the patient influences the results of autonomic function tests. The autonomic technologist in this evolving field needs to have a solid core of knowledge of autonomic physiology and autonomic function tests, followed by training in the performance of these tests in a standardized fashion. The range and utilization of tests of autonomic function will likely continue to evolve.

  8. Fly ash carbon passivation (United States)

    La Count, Robert B; Baltrus, John P; Kern, Douglas G


    A thermal method to passivate the carbon and/or other components in fly ash significantly decreases adsorption. The passivated carbon remains in the fly ash. Heating the fly ash to about 500 and 800 degrees C. under inert gas conditions sharply decreases the amount of surfactant adsorbed by the fly ash recovered after thermal treatment despite the fact that the carbon content remains in the fly ash. Using oxygen and inert gas mixtures, the present invention shows that a thermal treatment to about 500 degrees C. also sharply decreases the surfactant adsorption of the recovered fly ash even though most of the carbon remains intact. Also, thermal treatment to about 800 degrees C. under these same oxidative conditions shows a sharp decrease in surfactant adsorption of the recovered fly ash due to the fact that the carbon has been removed. This experiment simulates the various "carbon burnout" methods and is not a claim in this method. The present invention provides a thermal method of deactivating high carbon fly ash toward adsorption of AEAs while retaining the fly ash carbon. The fly ash can be used, for example, as a partial Portland cement replacement in air-entrained concrete, in conductive and other concretes, and for other applications.


    Directory of Open Access Journals (Sweden)

    Cabrera Ruiz Isaac


    Full Text Available Resumen:La necesidad del dominio por parte de los estudiantes de la capacidad para gestionar sus propios aprendizajes, de adoptar una autonomía creciente en sus estudios académicos y de disponer de herramientas intelectuales y sociales que le permitan un aprendizaje continuo a lo largo de toda la vida, ha dado lugar a la identificación de la capacidad de aprender a aprender entre los requerimientos básicos para el desempeño de cualquier profesión.El ensayo sistematiza aproximaciones teóricas y metodológicas centradas en el desarrollo de la autonomía del aprendizaje, base para proponer cinco direcciones específicas en la educación superior. En correspondencia son identificadas estrategias didácticas para introducir en el proceso de enseñanza aprendizaje, señalando las posibilidades de insertarse en los diferentes momentos orientadores de la guía de estudio.La tesis defendida en el artículo proclama que el desarrollo de estrategias en los estudiantes para el planteamiento y consecución de metas, la búsqueda y procesamiento de la información , la expresión y comunicación, el planteamiento y solución de problemas y la autorregulación del aprendizaje contribuyen a la formación de un profesional más autónomo en su aprendizaje.Abstract:The necesity of the students to command their own learning, to adopt a growing autonomy in their academic studies and to make ready some social and intellectual tools that allow them a continuos knowledge through their whole life; it has provided the identification of the capacity to learn learning among the basicrequirements to perform any profession.In that same sense the article has as the main goal, to propose directions for the development of the learning autonomy in higher education, then it comes to be more precise, from a review about the topic divided into five directions, by means of identifying didactic strategies to each of the referred directions, carrying the intention to develop

  10. Fiber optics that fly (United States)

    Wilcox, Michael J.; Thelen, Donald C., Jr.


    The need for autonomous systems to work under unanticipated conditions requires the use of smart sensors. High resolution systems develop tremendous computational loads. Inspiration from animal vision systems can guide us in developing preprocessing approaches implementable in real time with high resolution and deduced computational load. Given a high quality optical path and a 2D array of photodetectors, the resolution of a digital image is determined by the density of photodetectors sampling the image. In order to reconstruct an image, resolution is limited by the distance between adjacent detectors. However, animal eyes resolve images 10-100 times better than either the acceptance angle of a single photodetector or the center-to-center distance between neighboring photodetectors. A new model of the fly's visual system emulates this improved performance, offering a different approach to subpixel resolution. That an animal without a cortex is capable of this performance suggests that high level computation is not involved. The model takes advantage of a photoreceptor cell's internal structure for capturing light. This organelle is a waveguide. Neurocircuitry exploits the waveguide's optical nonlinearities, namely in the shoulder region of its gaussian sensitivity-profile, to extract high resolution information from the visual scene. The receptive fields of optically disparate inputs overlap in space. Photoreceptor input is continuous rather than discretely sampled. The output of the integrating module is a signal proportional to the position of the target within the detector array. For tracking a point source, resolution is 10 times better than the detector spacing. For locating absolute position and orientation of an edge, the model performs similarly. Analog processing is used throughout. Each element is an independent processor of local luminance. Information processing is in real time with continuous update. This processing principle will be reproduced in an

  11. 通信时延下欠驱动自主水下航行器编队控制%Formation Control of Multiple Underactuated Autonomous Underwater Vehicles with Communication Time Delays

    Institute of Scientific and Technical Information of China (English)

    闫伟; 严卫生; 王银涛; 姚尧


    研究了通讯时延情况下的欠驱动自主水下航行器(Autonomous Underwater Vehicle)编队控制问题。考虑到水下通讯所面临困难,将编队问题分为两个部分:一部分为单个AUV的路径跟踪控制问题,保证每个AUV沿各自的期望路径航行;另一部分为路径参数的协同控制问题,保证每个AUV期望的路径参数能够实现同步,进而达到编队控制的目的。提出的控制方案仅需要AUV之间交互路径参数信息,通讯需求量小,满足实际工程需求且能够允许一定的通讯时间延迟。数值仿真结果验证了控制算法的有效性。%We address the problem of designing distributed feedback laws to fore the outputs of underactuated Autonomous Underwater Vehicles to following geometric paths while holding a desired formation pattern. Considering the difficulties that are specially challenging in the field of underwater communications, the solution to formation problem, unfolds in two basic parts. Firstly, a path following control law is used to drive each AUV to its desired path regardless of the temporal speed profile adopted. Secondly the path parameters of each assigned path are adjusted so as to synchronize their positions along the path, thus achieving coordination, while making the formation as a whole travel at a given speed. The control strategy proposed only need AUVs communicate the information of path parameter with each other; the information flow is small and satisfy with a practical standpoint, moreover, the control law permits with a certain extent time delays. Simulation results show that the proposed control strategy is valid.

  12. 基于形成性评估培养英语自主学习能力的研究%Research on the Cultivation of Students' Autonomous English Learning Ability Based on Formative Assessment

    Institute of Scientific and Technical Information of China (English)


      形成性评估是构建基于计算机和课堂的大学英语新教学模式的重要部分,是教学过程中进行的过程性和发展性评估。经过实证研究发现,形成性评估有利于提高学生自我负责管理学习的能力,能有效地促进学生自主学习能力的发展。%The formative assessment is built based on the com-puter and the classroom an important part of college English new teaching model, is the process of teaching process and develop-mental evaluation. Through the empirical study found that forma-tive assessment is beneficial to improve students' ability of self is responsible for the management of learning, can effectively pro-mote the development of students' autonomous learning ability.

  13. Ever Fly a Tetrahedron? (United States)

    King, Kenneth


    Few things capture the spirit of spring like flying a kite. Watching a kite dance and sail across a cloud spotted sky is not only a visually appealing experience it also provides a foundation for studies in science and mathematics. Put simply, a kite is an airfoil surface that flies when the forces of lift and thrust are greater than the forces of…

  14. Formats

    Directory of Open Access Journals (Sweden)

    Gehmann, Ulrich


    Full Text Available In the following, a new conceptual framework for investigating nowadays’ “technical” phenomena shall be introduced, that of formats. The thesis is that processes of formatting account for our recent conditions of life, and will do so in the very next future. It are processes whose foundations have been laid in modernity and which will further unfold for the time being. These processes are embedded in the format of the value chain, a circumstance making them resilient to change. In addition, they are resilient in themselves since forming interconnected systems of reciprocal causal circuits.Which leads to an overall situation that our entire “Lebenswelt” became formatted to an extent we don’t fully realize, even influencing our very percep-tion of it.

  15. 基于HLA/RTI的多无人机编队飞行仿真系统框架%Multi-UAVS Formation Flying Simulation System Based on HLA/RTI

    Institute of Scientific and Technical Information of China (English)

    王国丽; 王琪


    为实现多无人机编队的飞行仿真,提出了多无人机编队的飞行仿真系统设计方案.在对系统需求分析的基础上,设计了仿真系统的总体组成.以高层体系结构(High Level Architecture,HLA)作为框架,利用三维可视化建模工具Creator、视景仿真软件Vega Prime和HLA仿真支撑平台RTI,开发了基于HLA/RTI进行分布式仿真的多无人机编队飞行系统框架.RTI为通信支撑层,建立了多机实时通信的飞行仿真系统,由管理者发号施令,并将飞行结果实时存储,仿真人员可进行分析,改进飞行效果.%The design of the multi-UAVS and formation simulation system is proposed for realizing the flight simulation of multi-UAVS formation. Based on the research of system requirements, the overall system and structure frame are designed. Following the technique frame of HLA(high level architecture), Using visual modeling tool-Multigen Creator, visual simulation software-Multigen Vega Prime and HLA simulation support plat-RTI, A multi-UAVS formation flying simulation system based on HLA/RTI is designed. RTI is communications support layer, Establish a real-time communication of multi-machine flight simulation system, Receive orders form managers and store the flight results in real time, simulation people can be analyzed the results to improve the flight effect.

  16. Semi-Autonomous Systems Laboratory (United States)

    Federal Laboratory Consortium — Vision The Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

  17. Semi-Autonomous Systems Laboratory (United States)

    Federal Laboratory Consortium — VisionThe Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

  18. Testing for autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J


    Autonomic neuropathy is a common complication in long-term diabetes, about 30% of the patients showing measurable signs of autonomic dysfunction after 10 years duration of disease. The diagnosis is often difficult to establish because clinical symptoms generally occur late in the course...

  19. The fruit flies (Tephritidae) of Ontario (United States)

    Thirteen species of Tephritidae are newly recorded from Ontario, and alternative format keys are provided to the 31 genera and 72 species of fruit fly now known from, or likely to occur, in the province. Standard dichotomous keys to genera, and simplified field keys to genera and species are provide...

  20. Control of a free-flying robot manipulator system (United States)

    Alexander, H.


    The development of and test control strategies for self-contained, autonomous free flying space robots are discussed. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). Use of robots should reduce the expense and danger attending EVA both by providing assistance to astronauts and in many cases by eliminating altogether the need for human EVA, thus greatly enhancing the scope and flexibility of space assembly and repair activities. The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. It is planned, in a later phase, to extend the research to three dimensions by carrying out experiments in the Space Shuttle cargo bay.

  1. New techniques of intra-satellite communication and ranging/time synchronization for autonomous formation flyer%AFF组网通信与测距/时间同步的新体制研究

    Institute of Scientific and Technical Information of China (English)

    李雪; 张其善; 徐勇; 王策


    研究了自主编队航天器(AFF,autonomous formation flyer)的组网通信与测距/时间同步体制,提出了一种基于频分+码分组合多址模式和CCSDS proximity-1协议实现AFF组网通信,利用通信链路的双向异步传输帧实现AFT的任意两颗成员星之间的精密测距与时间同步的新方法.重点讨论了FDMA/CDMA组网体制下星间双向异步传输帧非相干扩频测距与时间同步的技术原理、计算公式推导和测量误差分析,给出了星间异步通信与测距技术的全功能地面实验系统设计、实验结果及其分析讨论,实测结果获得了满意的性能指标.

  2. Exploring the User Experience of Autonomous Driving: Workshop at AutomotiveUI 2013


    Tscheligi, Manfred; Wilfinger, David; Meschtscherjakov, Alexander; Montesinos, Carlos; McCall, Roderick; Szostak, Dalila; RatanMich; Muir, Alexander


    Although cars are not flying yet, self-driving cars are definitively closer than some may think. Numerous research organizations and major companies have developed working prototype autonomous vehicles. Three U.S. states have passed laws permitting autonomous cars on public roads and the UK is currently working on making similar policy changes. Technical challenges are of great importance to fully transition to these vehicles, but legislation, infrastructure and human factors elements are of ...

  3. 形成性评价运用于大学英语自主学习的实证研究%An Empirical Research on Improving the Autonomous Learning Ability Based on Formative Assessment in Col-lege English Teaching

    Institute of Scientific and Technical Information of China (English)



    随着英语教育改革的深入,形成性评价对自主学习者的学习态度和学习能力的正面反拨作用得到越来越多的重视。本研究将形成性评价运用于大学英语自主学习领域,用以验证形成性评价是否有助于学生提高自主学习能力、学习策略、学习动力以及学习效果;验证形成性评价是否有助于学生终结性评价成绩的提高。%With the deepening of the reform of English education, the positive backwash effects of the formative assessment to the autonomous learners' learning attitude and ability has got more and more attention. In this study, the English formative assess-ment is applied to the field of English autonomous learning, in order to verify whether formative assessment is helpful for stu-dents to improve the ability of autonomous learning, learning strategy, learning motivation and learning effect, and also to verify whether formative assessment is helpful for students to improve the achievement of summative assessment.

  4. Flying in North America

    Directory of Open Access Journals (Sweden)

    Jaromír Procházka


    Full Text Available Flying all over the world is very challenging and demanding. Although ICAO is covering every specific detail by rules, there are some personal experiences which cannot be substituted. Some of them are point out in the article.

  5. The Fly Printer - Extended

    DEFF Research Database (Denmark)

    Beloff, Laura; Klaus, Malena


    Artist talk / Work-in-progress What is the purpose of a machine or an artifact, like the Fly Printer, that is dislocated, that produces images that have no meaning, no instrumentality, that depict nothing in the world? The biological and the cultural are reunited in this apparatus as a possibilit...... the results. The extended version of the Fly Printer containing the technological perception and DNNs is a collaboration between Laura Beloff and Malene Theres Klaus...

  6. Autonomous surveillance for biosecurity. (United States)

    Jurdak, Raja; Elfes, Alberto; Kusy, Branislav; Tews, Ashley; Hu, Wen; Hernandez, Emili; Kottege, Navinda; Sikka, Pavan


    The global movement of people and goods has increased the risk of biosecurity threats and their potential to incur large economic, social, and environmental costs. Conventional manual biosecurity surveillance methods are limited by their scalability in space and time. This article focuses on autonomous surveillance systems, comprising sensor networks, robots, and intelligent algorithms, and their applicability to biosecurity threats. We discuss the spatial and temporal attributes of autonomous surveillance technologies and map them to three broad categories of biosecurity threat: (i) vector-borne diseases; (ii) plant pests; and (iii) aquatic pests. Our discussion reveals a broad range of opportunities to serve biosecurity needs through autonomous surveillance.

  7. Control of free-flying space robot manipulator systems (United States)

    Cannon, Robert H., Jr.


    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  8. Autonomous gliding entry guidance with

    Directory of Open Access Journals (Sweden)

    Guo Jie


    Full Text Available This paper presents a novel three-dimensional autonomous entry guidance for relatively high lift-to-drag ratio vehicles satisfying geographic constraints and other path constraints. The guidance is composed of onboard trajectory planning and robust trajectory tracking. For trajectory planning, a longitudinal sub-planner is introduced to generate a feasible drag-versus-energy profile by using the interpolation between upper boundary and lower boundary of entry corridor to get the desired trajectory length. The associated magnitude of the bank angle can be specified by drag profile, while the sign of bank angle is determined by lateral sub-planner. Two-reverse mode is utilized to satisfy waypoint constraints and dynamic heading error corridor is utilized to satisfy no-fly zone constraints. The longitudinal and lateral sub-planners are iteratively employed until all of the path constraints are satisfied. For trajectory tracking, a novel tracking law based on the active disturbance rejection control is introduced. Finally, adaptability tests and Monte Carlo simulations of the entry guidance approach are performed. Results show that the proposed entry guidance approach can adapt to different entry missions and is able to make the vehicle reach the prescribed target point precisely in spite of geographic constraints.

  9. Inherited autonomic neuropathies. (United States)

    Axelrod, Felicia B; Hilz, Max J


    Inherited autonomic neuropathies are a rare group of disorders associated with sensory dysfunction. As a group they are termed the "hereditary sensory and autonomic neuropathies" (HSAN). Classification of the various autonomic and sensory disorders is ongoing. In addition to the numerical classification of four distinct forms proposed by Dyck and Ohta (1975), additional entities have been described. The best known and most intensively studied of the HSANs are familial dysautonomia (Riley-Day syndrome or HSAN type III) and congenital insensitivity to pain with anhidrosis (HSAN type IV). Diagnosis of the HSANs depends primarily on clinical examinations and specific sensory and autonomic assessments. Pathologic examinations are helpful in confirming the diagnosis and in differentiating between the different disorders. In recent years identification of specific genetic mutations for some disorders has aided diagnosis. Replacement or definitive therapies are not available for any of the disorders so that treatment remains supportive and directed toward specific symptoms.

  10. Cooperative attitude and translation control of satellite formation flying using consensus algorithm%基于一致性算法的卫星编队姿轨耦合的协同控制

    Institute of Scientific and Technical Information of China (English)

    周稼康; 胡庆雷; 马广富; 吕跃勇


    针对卫星编队一主多从结构的相对轨迹、姿态的协同控制问题,提出了一种基于Lyapunov方法的编队飞行协同控制策略.该控制策略将分布式控制思想引入卫星编队飞行的相对轨迹、姿态的动力学系统中,使各从星保持编队构型的同时沿期望轨迹相对主星绕飞.从理论上证明了系统的渐近稳定以及对外部干扰的抑制,并基于一致性算法理论定量地分析了通信拓扑结构为有向图情况下控制器参数的选择范围.此外,利用星星间的相对位置信息确定各从星的期望姿态和角速度,以确保对卫星编队进行姿态协同控制,达到跟踪同步的目的.最后将提出的算法应用于卫星三角形编队飞行的协同控制,仿真结果表明该方法的可行性与有效性,具有潜在的应用前景.%This paper proposes a Lyapunov based cooperative control for the coupling of the rotational and translational motion of the satellite formation flying, in which one leader multi-follower satellite formation structure is adopted. More specifically, using the information of the inter-satellite position, the desired attitude quaternion and angular velocity of the followers are determined, such that the desired attitude and position trajectories could be tracked, while simultaneously the synchronized motion among all spacecraft in formation is guaranteed. The stability analysis of the closed-loop system is performed using Lyapunov stability theorem and the range of the control parameters are determined by using consensus algorithm even in the presence of external disturbances. Numerical simulation results are presented to show the effectiveness of the proposed controller.

  11. Autonomous Star Tracker Algorithms

    DEFF Research Database (Denmark)

    Betto, Maurizio; Jørgensen, John Leif; Kilsgaard, Søren


    Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances.......Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances....

  12. Autonomic cardiac innervation


    Hasan, Wohaib


    Autonomic cardiac neurons have a common origin in the neural crest but undergo distinct developmental differentiation as they mature toward their adult phenotype. Progenitor cells respond to repulsive cues during migration, followed by differentiation cues from paracrine sources that promote neurochemistry and differentiation. When autonomic axons start to innervate cardiac tissue, neurotrophic factors from vascular tissue are essential for maintenance of neurons before they reach their targe...

  13. Free-Flying Magnetometer Data System (United States)

    Blaes, B.; Javadi, H.; Spencer, H.


    The Free-Flying Magnetometer (FFM) is an autonomous "sensorcraft" developed at the Jet Propulsion Laboratory (JPL) for the Enstrophy sounding rocket mission. This mission was a collaborative project between the University of New Hampshire, Cornell University and JPL. The science goal of the mission was the study of current filamentation phenomena in the northern auroral region through multipoint measurements of magnetic field. The technical objective of the mission was the proof of concept of the JPL FFM design and the demonstration of an in-situ multipoint measurement technique employing many free-flying spacecraft. Four FFMs were successfully deployed from a sounding rocket launched from Poker Flats, Alaska on February 11, 1999. These hockey-puck-sized (80 mm diameter, 38 mm. height, 250 gram mass) free flyers each carry a miniature 3-axis flux-gate magnetometer that output +/- 2 V signals corresponding to a +/- 60,000 nT measurement range for each axis. The FFM uses a synchronized four-channel Sigma(Delta) Analog-to-Digital Converter (ADC) having a dynamic range of +/- 2.5V and converting at a rate of 279 samples/second/channel. Three channels are used to digitize the magnetometer signals to 17-bit (1.144 nT/bit) resolution. The fourth ADC channel is multiplexed for system monitoring of four temperature sensors and two battery voltages. The FFM also contains two sun sensors, a laser diode which emits a fan-shaped beam, a miniature S-band transmitter for direct communication to the ground station antennas, an ultra-stable Temperature Compensated Crystal Oscillator (TCXO) clock, an integrated data subsystem implemented in a Field-Programmable Gate Array (FPGA), a 4 Mbit Static Random Access Memory (SRAM) for data storage and Lithium Thionyl Chloride batteries for power. Communicating commands to the FFM prior to deployment is achieved with an infrared (IR) link. The FFM IR receiver responds to 9-bit pulse coded signals that are generated by an IR Light Emitting

  14. What the fly's nose tells the fly's brain. (United States)

    Stevens, Charles F


    The fly olfactory system has a three-layer architecture: The fly's olfactory receptor neurons send odor information to the first layer (the encoder) where this information is formatted as combinatorial odor code, one which is maximally informative, with the most informative neurons firing fastest. This first layer then sends the encoded odor information to the second layer (decoder), which consists of about 2,000 neurons that receive the odor information and "break" the code. For each odor, the amplitude of the synaptic odor input to the 2,000 second-layer neurons is approximately normally distributed across the population, which means that only a very small fraction of neurons receive a large input. Each odor, however, activates its own population of large-input neurons and so a small subset of the 2,000 neurons serves as a unique tag for the odor. Strong inhibition prevents most of the second-stage neurons from firing spikes, and therefore spikes from only the small population of large-input neurons is relayed to the third stage. This selected population provides the third stage (the user) with an odor label that can be used to direct behavior based on what odor is present.


    Institute of Scientific and Technical Information of China (English)

    谷峰; 陈文; 柯应根


    伴随多媒体网络环境下大学英语教学改革的逐步深入,大学英语多媒体网络自主学习成为大学英语教学改革的重点。但目前许多普通高等院校大学英语多媒体网络自主学习缺乏较为完善的形成性评价体系,未能对学生的学习进程进行有效的监督和评估,影响了大学英语教学改革的成效。针对此项大学英语教学改革中的薄弱环节,文章在分析大学英语多媒体网络自主学习的形成性评价体系建构的必要性及其建构原则的基础上,考究了其形成性评价体系建构的模式,指出形成性评价体系的合理建构已成为大学英语网络自主学习的必要保证,有利于增强学生的英语学习动机,促使学生优化学习策略,有效培养学生的英语语用能力。%As the teaching reform of college English in the multimedia network environment has reasonably developed and widely spread,college English autonomous learning has become the key of the teaching reform.But at present college English autonomous learning in the multimedia network environment lacks the perfect formative assessment,and as a result the course of college students' autonomous learning hasn't been supervised and assessed effectively,which affects the progress of the college English teaching reform.In view of this weak point,this paper,based on the analysis of necessity of constructing the formative assessment and the principles of its construction,probes into the system of the formative assessment for students' autonomous learning in the multimedia network environment.This paper points out that the reasonable construction of this formative assessment has become the indispensable guarantee of students'autonomous learning in the multimedia network environment.The implementation of this formative assessment helps to improve students'learning motivations and learning strategies as well as their English competence.

  16. Formation Flying/Satellite Swarm Concept Project (United States)

    Youngquist, Robert C.


    NASA needs a method of not only propelling and rotating small satellites, but also to track their position and orientation. We propose a concept that will, for the first time, demonstrate both tracking and propulsion simultaneously in the same system.



    Momin Irfan Ali Nasir Husain *1, Shah mohd. Rafique rahmatullah *2, Naumanulhaq Barkatullah Shaikh *3, Khatib Mohd. Azimuddin Najimuddin *4, Ansari Mohammad Naasir Shamsudduha *5, Ansari Mohammad Parvez Abdul Qayyum*6, Momin Mohammad Rayyan Mohammad Shakeel*7, Ansari Peer Mohammed Munna *8, Prof. Mohd. Musharraf Aamir


    Flying Bike vertical take-off and landing (VTOL) type machine which also follows Newton’s third law. It is thought of as a conventional type of aircraft with special features added to enable it to rise vertically during take-off and to land from a vertical descent.  It flies with two propellers located at front and back side. These propellers are having hovering abilities. The vehicle is controlled by tilting the propellers by using lever mechanism. Rotation is carried out by diffe...

  18. Autonomous Evolutionary Information Systems

    Institute of Scientific and Technical Information of China (English)


    Traditional information systems are passive, i.e., data orknowledge is created , retrieved, modified, updated, and deleted only in response to operations issued by users or application programs, and the systems only can execute queries or t ransactions explicitly submitted by users or application programs but have no ab ility to do something actively by themselves. Unlike a traditional information system serving just as a storehouse of data or knowledge and working passively a ccording to queries or transactions explicitly issued by users and application p rograms, an autonomous evolutionary information system serves as an autonomous a nd evolutionary partner of its users that discovers new knowledge from its datab ase or knowledge-base autonomously, cooperates with its users in solving proble m s actively by providing the users with advices, and has a certain mechanism to i mprove its own state of “knowing” and ability of “working”. This paper semi nall y defines what is an autonomous evolutionary information system, explain why aut onomous evolutionary information systems are needed, and presents some new issue s, fundamental considerations, and research directions in design and development of autonomous evolutionary information systems.

  19. Autonomic disturbances in narcolepsy. (United States)

    Plazzi, Giuseppe; Moghadam, Keivan Kaveh; Maggi, Leonardo Serra; Donadio, Vincenzo; Vetrugno, Roberto; Liguori, Rocco; Zoccoli, Giovanna; Poli, Francesca; Pizza, Fabio; Pagotto, Uberto; Ferri, Raffaele


    Narcolepsy is a clinical condition characterized mainly by excessive sleepiness and cataplexy. Hypnagogic hallucinations and sleep paralysis complete the narcoleptic tetrad; disrupted night sleep, automatic behaviors and weight gain are also usual complaints. Different studies focus on autonomic changes or dysfunctions among narcoleptic patients, such as pupillary abnormalities, fainting spells, erectile dysfunction, night sweats, gastric problems, low body temperature, systemic hypotension, dry mouth, heart palpitations, headache and extremities dysthermia. Even if many studies lack sufficient standardization or their results have not been replicated, a non-secondary involvement of the autonomic nervous system in narcolepsy is strongly suggested, mainly by metabolic and cardiovascular findings. Furthermore, the recent discovery of a high risk for overweight and for metabolic syndrome in narcoleptic patients represents an important warning for clinicians in order to monitor and follow them up for their autonomic functions. We review here studies on autonomic functions and clinical disturbances in narcoleptic patients, trying to shed light on the possible contribute of alterations of the hypocretin system in autonomic pathophysiology.

  20. Autonomous Aerial Sensors for Wind Power Meteorology - A Pre-Project

    DEFF Research Database (Denmark)

    Giebel, Gregor; Schmidt Paulsen, Uwe; Bange, Jens;

    Autonomous Aerial Sensors, i.e. meteorological sensors mounted on Unmanned Aerial Systems UAS, can characterise the atmospheric flow in and around wind farms. We instrumented three planes, a helicopter and a lighter-than-air LTA system to fly one week together in a well-instrumented wind farm...

  1. Kite-Flying Fun

    Institute of Scientific and Technical Information of China (English)


    China’s kite capital welcomes flying enthusiasts from across the world to its annual carnival Tens of thousands of kite enthusiast from all over the world gathered under the growing swarm of brightly colored kites. Some of the floating and billowing forms had been fashioned into

  2. Simple Autonomous Chaotic Circuits (United States)

    Piper, Jessica; Sprott, J.


    Over the last several decades, numerous electronic circuits exhibiting chaos have been proposed. Non-autonomous circuits with as few as two components have been developed. However, the operation of such circuits relies on the non-ideal behavior of the devices used, and therefore the circuit equations can be quite complex. In this paper, we present two simple autonomous chaotic circuits using only opamps and linear passive components. The circuits each use one opamp as a comparator, to provide a signum nonlinearity. The chaotic behavior is robust, and independent of nonlinearities in the passive components. Moreover, the circuit equations are among the algebraically simplest chaotic systems yet constructed.

  3. Overview of the Autonomic Nervous System (United States)

    ... be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... organs they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

  4. 基于图的分布式平飞航迹关联算法%Distributed Formation-Flying Track-to-Track Association Based on the Graph

    Institute of Scientific and Technical Information of China (English)

    鹿传国; 冯新喜; 孔云波; 王振兴


    航迹关联是分布式传感器信息融合的关键问题之一,其主要问题在于多目标平飞航迹难以关联,而实际工程应用中无法实时获取方差数据又增加了关联难度.将同一传感器获取的平飞航迹抽象为图论中无分辨的点,应用综合B型关联理论计算各点间距,进而构造反映航迹间关联关系的双向连通图,并用邻接矩阵描述其关联拓扑关系.不同节点的公共观测连通图对应的邻接矩阵必然是相似的,继而将图二分为单点图及其对应补图,利用辩证的思想将补图所对应的邻接矩阵的特征值抽象为对应点的特征向量,最终将平飞航迹关联落脚至多维分配问题.实验仿真表明,该方法具有较好的关联效果.%Track association is one of the key technologies for distributed multi-sensor information fusion. The main difficulty is to deal with multi-target formation-flying, especially without the variance data in real time. We regarded the tracks obtained by the same sensor as nodes in graph theory. The graph reflecting the inner relation was constructed after the distance between each node was calculated out with the application of gray correlative theory of B-mod. The adjacency matrix was used to describe the logic topology relation. The adjacency matrix of the tracks obtained by different sensors was similar to each other. Then we divided the graph into two parts; single node graph and its complementary graph constructed of the rest nodes. Eigenvalue of the adjacency matrix corresponding to the complementary graph might work as the character vector of the node. Finally the track-to-track association could be solved by the two-dimension assignment algorithm. Simulation results show that the proposed algorithm is effective in dealing with the track association problem.

  5. An annotated checklist of the horse flies, deer flies, and yellow flies (Diptera: Tabanidae) of Florida (United States)

    The family Tabanidae includes the horse flies, deer flies, and yellow flies and is considered a significant pest of livestock throughout the United States, including Florida. Tabanids can easily become a major pest of man, especially salt marsh species which are known to readily feed on humans and o...

  6. Autonomous Hexapod Spider Robot

    DEFF Research Database (Denmark)

    Pandey, Nisha; Pandey, Bishwajeet; Hussain, Dil muhammed Akbar


    of a hexapod robot. It is controlled through Arduino-unoR3 based SSC servo control module. Servos of torque 2.5kg-cm are used in robot to show different working movements including back and forth movement and sitting posture. Another trending technology i.e. Bluetooth is used to control autonomous feature...

  7. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel


    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple...

  8. Autonomous component carrier selection

    DEFF Research Database (Denmark)

    Garcia, Luis Guilherme Uzeda; Pedersen, Klaus; Mogensen, Preben


    in local areas, basing our study case on LTE-Advanced. We present extensive network simulation results to demonstrate that a simple and robust interference management scheme, called autonomous component carrier selection allows each cell to select the most attractive frequency configuration; improving...

  9. Autonomous Forest Fire Detection

    NARCIS (Netherlands)

    Breejen, E. den; Breuers, M.; Cremer, F.; Kemp, R.A.W.; Roos, M.; Schutte, K.; Vries, J.S. de


    Forest fire detection is a very important issue in the pre-suppression process. Timely detection allows the suppression units to reach the fire in its initial stages and this will reduce the suppression costs considerably. The autonomous forest fire detection principle is based on temporal contrast

  10. Flying Saucer? Aliens? (United States)


    No, it's not a flying saucer, it is the domed top to a 70 foot long vacuum tank at the Lewis Research Center's Electric Propulsion Laboratory, Cleveland, Ohio. The three technicians shown here in protective clothing had just emerged from within the tank where they had been cleaning in the toxic mercury atmosphere, left after ion engine testing in the tank. Lewis has since been renamed the John H. Glenn Research Center.

  11. Non-cell autonomous and non-catalytic activities of ATX in the developing brain

    Directory of Open Access Journals (Sweden)

    Raanan eGreenman


    Full Text Available The intricate formation of the cerebral cortex requires a well-coordinated series of events, which are regulated at the level of cell-autonomous and non-cell autonomous mechanisms. Whereas cell-autonomous mechanisms that regulate cortical development are well-studied, the non cell-autonomous mechanisms remain poorly understood. A non-biased screen allowed us to identify Autotaxin (ATX as a non cell-autonomous regulator of neural stem cell proliferation. ATX (also known as ENPP2 is best known to catalyze lysophosphatidic acid (LPA production. Our results demonstrate that ATX affects the localization and adhesion of neuronal progenitors in a cell autonomous and non-cell autonomous manner, and strikingly, this activity is independent from its catalytic activity in producing LPA.

  12. Mobile Autonomous Humanoid Assistant (United States)

    Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.


    A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

  13. On-the Fly Merging of Attitude Solutions

    DEFF Research Database (Denmark)

    Jørgensen, Peter Siegbjørn; Jørgensen, John Leif; Denver, Troelz


    Recent advances in autonomous attitude determination instrumentation enable even small satellites flying fully autonomous multi head star trackers providing full accurate and robust attitude information. Each sensor provides the full attitude information but for robustness and optimal usage...... of the available information, i.e. optimal accuracy, methods for merging such data should be investigated. The need for and desirability of attitude merging depends on the mission objective and available resources. To enable real-time attitude control and reduce requirements on download budget, on-board merging...... of attitude data will often be advantageous. This should be weighted against the need for post observation reconstruction of attitudes, especially needed when end products are sensitive to optimal attitude reconstruction. Instrument integrated merging algorithms will reduce the complexity of on-board AOCS...

  14. Autonomous Undersea Observations (United States)


    less expensive sensor systems for a variety of applications, including measurement of physical characteristics of the ocean, threat detection, and...multiple autonomous environmental sensors within an acoustic modem-based infrastructure capable of communicating to and from the sensors and to and...networks, and telesonar with high speed platforms. This effort is concentrating on the development and demonstration of the two modem- based sensors . We

  15. Autonomous robotic sweeper


    Kržišnik, Domen


    There is already a wide range of personal/domestic robots on the market capable of performing various tasks. We haven't however been able to find any commercially available robots designed for effectively performing the task of backyard sweeping. This thesis presents the process and end result of planning, assembly and programming of an autonomous robot, capable of performing the above mentioned task. We first analyze robots with similar functions, including robotic vacuum cleaners and lawn m...

  16. Nature's Autonomous Oscillators (United States)

    Mayr, H. G.; Yee, J.-H.; Mayr, M.; Schnetzler, R.


    Nonlinearity is required to produce autonomous oscillations without external time dependent source, and an example is the pendulum clock. The escapement mechanism of the clock imparts an impulse for each swing direction, which keeps the pendulum oscillating at the resonance frequency. Among nature's observed autonomous oscillators, examples are the quasi-biennial oscillation and bimonthly oscillation of the Earth atmosphere, and the 22-year solar oscillation. The oscillations have been simulated in numerical models without external time dependent source, and in Section 2 we summarize the results. Specifically, we shall discuss the nonlinearities that are involved in generating the oscillations, and the processes that produce the periodicities. In biology, insects have flight muscles, which function autonomously with wing frequencies that far exceed the animals' neural capacity; Stretch-activation of muscle contraction is the mechanism that produces the high frequency oscillation of insect flight, discussed in Section 3. The same mechanism is also invoked to explain the functioning of the cardiac muscle. In Section 4, we present a tutorial review of the cardio-vascular system, heart anatomy, and muscle cell physiology, leading up to Starling's Law of the Heart, which supports our notion that the human heart is also a nonlinear oscillator. In Section 5, we offer a broad perspective of the tenuous links between the fluid dynamical oscillators and the human heart physiology.

  17. Trigeminal autonomic cephalalgias. (United States)

    Eller, M; Goadsby, P J


    The trigeminal autonomic cephalalgias (TACs) are a group of primary headache disorders characterised by lateralized symptoms: prominent headache and ipsilateral cranial autonomic features, such as conjunctival injection, lacrimation and rhinorrhea. The TACs are: cluster headache (CH), paroxysmal hemicrania (PH), short-lasting unilateral neuralgiform headache attacks with conjunctival injection and tearing (SUNCT)/short-lasting neuralgiform headache attacks with cranial autonomic features (SUNA) and hemicrania continua (HC). Their diagnostic criteria are outlined in the International Classification of Headache Disorders, third edition-beta (ICHD-IIIb). These conditions are distinguished by their attack duration and frequency, as well as response to treatment. HC is continuous and by definition responsive to indomethacin. The main differential when considering this headache is chronic migraine. Other TACs are remarkable for their short duration and must be distinguished from other short-lasting painful conditions, such as trigeminal neuralgia and primary stabbing headache. Cluster headache is characterised by exquisitely painful attacks that occur in discrete episodes lasting 15-180 min a few times a day. In comparison, PH occurs more frequently and is of shorter duration, and like HC is responsive to indomethacin. SUNCT/SUNA is the shortest duration and highest frequency TAC; attacks can occur over a hundred times every day.

  18. Monte Carlo Registration and Its Application with Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Christian Rink


    Full Text Available This work focuses on Monte Carlo registration methods and their application with autonomous robots. A streaming and an offline variant are developed, both based on a particle filter. The streaming registration is performed in real-time during data acquisition with a laser striper allowing for on-the-fly pose estimation. Thus, the acquired data can be instantly utilized, for example, for object modeling or robot manipulation, and the laser scan can be aborted after convergence. Curvature features are calculated online and the estimated poses are optimized in the particle weighting step. For sampling the pose particles, uniform, normal, and Bingham distributions are compared. The methods are evaluated with a high-precision laser striper attached to an industrial robot and with a noisy Time-of-Flight camera attached to service robots. The shown applications range from robot assisted teleoperation, over autonomous object modeling, to mobile robot localization.

  19. Dielectric properties of fly ash

    Indian Academy of Sciences (India)

    S C Raghavendra; R L Raibagkar; A B Kulkarni


    This paper reports the dielectric properties of fly ash. The dielectric measurements were performed as a function of frequency and temperature. The sample of fly ash shows almost similar behaviour in the frequency and temperature range studied. The large value of dielectric constant in the typical frequency range is because of orientation polarization and tight binding force between the ions or atoms in the fly ash. The sample of fly ash is of great scientific and technological interest because of its high value of dielectric constant (104).

  20. Association Between Autonomic Impairment and Structural Deficit in Parkinson Disease. (United States)

    Chen, Meng-Hsiang; Lu, Cheng-Hsien; Chen, Pei-Chin; Tsai, Nai-Wen; Huang, Chih-Cheng; Chen, Hsiu-Ling; Yang, I-Hsiao; Yu, Chiun-Chieh; Lin, Wei-Che


    Patients with Parkinson disease (PD) have impaired autonomic function and altered brain structure. This study aimed to evaluate the relationship of gray matter volume (GMV) determined by voxel-based morphometry (VBM) to autonomic impairment in patients with PD. Whole-brain VBM analysis was performed on 3-dimensional T1-weighted images in 23 patients with PD and 15 sex- and age-matched healthy volunteers. The relationship of cardiovascular autonomic function (determined by survey) to baroreflex sensitivity (BRS) (determined from changes in heart rate and blood pressure during the early phase II of the Valsalva maneuver) was tested using least-squares regression analysis. The differences in GMV, autonomic parameters, and clinical data were correlated after adjusting for age and sex. Compared with controls, patients with PD had low BRS, suggesting worse cardiovascular autonomic function, and smaller GMV in several brain locations, including the right amygdala, left hippocampal formation, bilateral insular cortex, bilateral caudate nucleus, bilateral cerebellum, right fusiform, and left middle frontal gyri. The decreased GMVs of the selected brain regions were also associated with increased presence of epithelial progenitor cells (EPCs) in the circulation. In patients with PD, decrease in cardiovascular autonomic function and increase in circulating EPC level are associated with smaller GMV in several areas of the brain. Because of its possible role in the modulation of the circulatory EPC pool and baroreflex control, the left hippocampal formation may be a bio-target for disease-modifying therapy and treatment monitoring in PD.

  1. Flying over decades (United States)

    Hoeller, Judith; Issler, Mena; Imamoglu, Atac

    Levy flights haven been extensively used in the past three decades to describe non-Brownian motion of particles. In this presentation I give an overview on how Levy flights have been used across several disciplines, ranging from biology to finance to physics. In our publication we describe how a single electron spin 'flies' when captured in quantum dot using the central spin model. At last I motivate the use of Levy flights for the description of anomalous diffusion in modern experiments, concretely to describe the lifetimes of quasi-particles in Josephson junctions. Finished PhD at ETH in Spring 2015.

  2. Autonomic disorders in multiple sclerosis. (United States)

    Lensch, E; Jost, W H


    Multiple sclerosis is an inflammatory disease leading to disseminated lesions of the central nervous system resulting in both somatomotor and autonomic disturbances. These involve the central centers of the autonomic nervous system, as well as the automatic control and pathway systems. All autonomic functions may be disordered individually or in combined form. There is no other disease with a clinical picture so multifaceted. Besides cardiovascular dysfunctions disorders of bladder and rectum have become apparent. Somatomotor and autonomic disturbances occur with similar frequency; however the focused exam often heavily favors somatomotor symptoms. Autonomic disturbances should primarily be taken into account on history taking and clinical examination. Individual diagnosis and treatment is a secondary feature. Impairments of the autonomic nervous systems in multiple sclerosis are frequently overlooked.

  3. Autonomic Disorders in Multiple Sclerosis

    Directory of Open Access Journals (Sweden)

    E. Lensch


    Full Text Available Multiple sclerosis is an inflammatory disease leading to disseminated lesions of the central nervous system resulting in both somatomotor and autonomic disturbances. These involve the central centers of the autonomic nervous system, as well as the automatic control and pathway systems. All autonomic functions may be disordered individually or in combined form. There is no other disease with a clinical picture so multifaceted. Besides cardiovascular dysfunctions disorders of bladder and rectum have become apparent. Somatomotor and autonomic disturbances occur with similar frequency; however the focused exam often heavily favors somatomotor symptoms. Autonomic disturbances should primarily be taken into account on history taking and clinical examination. Individual diagnosis and treatment is a secondary feature. Impairments of the autonomic nervous systems in multiple sclerosis are frequently overlooked.

  4. The DelFly design, aerodynamics, and artificial intelligence of a flapping wing robot

    CERN Document Server

    de Croon, G C H E; Remes, B D W; Ruijsink, R; De Wagter, C


    This book introduces the topics most relevant to autonomously flying flapping wing robots: flapping-wing design, aerodynamics, and artificial intelligence. Readers can explore these topics in the context of the "Delfly", a flapping wing robot designed at Delft University in The Netherlands. How are tiny fruit flies able to lift their weight, avoid obstacles and predators, and find food or shelter? The first step in emulating this is the creation of a micro flapping wing robot that flies by itself. The challenges are considerable: the design and aerodynamics of flapping wings are still active areas of scientific research, whilst artificial intelligence is subject to extreme limitations deriving from the few sensors and minimal processing onboard. This book conveys the essential insights that lie behind success such as the DelFly Micro and the DelFly Explorer. The DelFly Micro, with its 3.07 grams and 10 cm wing span, is still the smallest flapping wing MAV in the world carrying a camera, whilst the DelFly Expl...

  5. Catecholamines and diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J


    In diabetic patients with autonomic neuropathy plasma noradrenaline concentration, used as an index of sympathetic nervous activity, is low. This decrease is, however, only found in patients with a long duration of diabetes with clinically severe autonomic neuropathy. This apparent insensitivity...... of plasma catecholamine measurements is not due to changes in the clearance of catecholamines in diabetic autonomic neuropathy. The physiological responses to infused adrenaline and to noradrenaline are enhanced, for noradrenaline mainly cardiovascular responses. Adrenoceptors (alpha and beta adrenoceptors...

  6. Jam avoidance with autonomous systems

    CERN Document Server

    Tordeux, Antoine


    Many car-following models are developed for jam avoidance in highways. Two mechanisms are used to improve the stability: feedback control with autonomous models and increasing of the interaction within cooperative ones. In this paper, we compare the linear autonomous and collective optimal velocity (OV) models. We observe that the stability is significantly increased by adding predecessors in interaction with collective models. Yet autonomous and collective approaches are close when the speed difference term is taking into account. Within the linear OV models tested, the autonomous models including speed difference are sufficient to maximise the stability.

  7. Robotics and Autonomous Systems Laboratory (United States)

    Federal Laboratory Consortium — FUNCTION: Provides an environment for developing and evaluating intelligent software for both actual and simulated autonomous vehicles. Laboratory computers provide...

  8. Physics of flying (United States)

    Vetrone, Jim


    Column editor's note: As the school year comes to a close, it is important to start thinking about next year. One area that you want to consider is field trips. Many institutions require that teachers plan for a field trip well in advance. Keeping that in mind, I asked Jim Vetrone to write an article about the fantastic field trip he takes his AP Physics students on. I had the awesome opportunity to attend a professional development day that Jim arranged at iFLY in the Chicago suburbs. The experience of "flying" in a wind tunnel was fabulous. Equally fun was watching the other physics teachers come up with experiments to have the professional "flyers" perform in the tube. I could envision my students being similarly excited about the experience and about the development of their own experiments. After I returned to school, I immediately began the process of trying to get this field trip approved for the 2015-16 school year. I suggest that you start your process as well if you hope to try a new field trip next year. The key to getting the approval, in my experience, is submitting a proposal early that includes supporting documentation from sources. Often I use NGSS or state standards as justifications for my field trips. I have also quoted College Board expectations for AP Physics 1 and 2 in my documents when requesting an unusual field trip.quote>

  9. GPS World, Innovation: Autonomous Navigation at High Earth Orbits (United States)

    Bamford, William; Winternitz, Luke; Hay, Curtis


    Calculating a spacecraft's precise location at high orbital altitudes-22,000 miles (35,800 km) and beyond-is an important and challenging problem. New and exciting opportunities become possible if satellites are able to autonomously determine their own orbits. First, the repetitive task of periodically collecting range measurements from terrestrial antennas to high altitude spacecraft becomes less important-this lessens competition for control facilities and saves money by reducing operational costs. Also, autonomous navigation at high orbital altitudes introduces the possibility of autonomous station keeping. For example, if a geostationary satellite begins to drift outside of its designated slot it can make orbit adjustments without requiring commands from the ground. Finally, precise onboard orbit determination opens the door to satellites flying in formation-an emerging concept for many scientific space applications. The realization of these benefits is not a trivial task. While the navigation signals broadcast by GPS satellites are well suited for orbit and attitude determination at lower altitudes, acquiring and using these signals at geostationary (GEO) and highly elliptical orbits is much more difficult. The light blue trace describes the GPS orbit at approximately 12,550 miles (20,200 km) altitude. GPS satellites were designed to provide navigation signals to terrestrial users-consequently the antenna array points directly toward the earth. GEO and HE0 orbits, however, are well above the operational GPS constellation, making signal reception at these altitudes more challenging. The nominal beamwidth of a Block II/IIA GPS satellite antenna array is approximately 42.6 degrees. At GEO and HE0 altitudes, most of these primary beam transmissions are blocked by the Earth, leaving only a narrow region of nominal signal visibility near opposing limbs of the earth. This region is highlighted in gray. If GPS receivers at GEO and HE0 orbits were designed to use these

  10. Autonomous mobile robot teams (United States)

    Agah, Arvin; Bekey, George A.


    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  11. Accurate Segmentation for Infrared Flying Bird Tracking

    Institute of Scientific and Technical Information of China (English)

    ZHENG Hong; HUANG Ying; LING Haibin; ZOU Qi; YANG Hao


    Bird strikes present a huge risk for air ve-hicles, especially since traditional airport bird surveillance is mainly dependent on inefficient human observation. For improving the effectiveness and efficiency of bird monitor-ing, computer vision techniques have been proposed to detect birds, determine bird flying trajectories, and pre-dict aircraft takeoff delays. Flying bird with a huge de-formation causes a great challenge to current tracking al-gorithms. We propose a segmentation based approach to enable tracking can adapt to the varying shape of bird. The approach works by segmenting object at a region of inter-est, where is determined by the object localization method and heuristic edge information. The segmentation is per-formed by Markov random field, which is trained by fore-ground and background mixture Gaussian models. Exper-iments demonstrate that the proposed approach provides the ability to handle large deformations and outperforms the m ost state-of-the-art tracker in the infrared flying bird tracking problem.

  12. Conception et réalisation d'un drone hybride sol/air autonome


    Thorel, Sylvain


    This thesis is dedicated to the non-linear control of a special hybrid quadrotor which is able to fly, and slide on the ground like an hovercraft. In the context of an autonomous indoor exploration this hybrid concept allows saving energy when flying is not necessary, since the drone can then slide on the ground without having to compensate for the gravity; autonomy can last beyond the 20 minutes typical of a standard quadrotor. Contrarily to wheeled mobile robots, the hybrid drone ability to...

  13. 粉煤灰合成沸石过程溶解性机理及吸附潜能研究%Dissolution Mechanisms of Zeolite Formation from Coal Fly Ash and Its Adsorption Potential

    Institute of Scientific and Technical Information of China (English)

    陈晓燕; 李江丽; 王行; 周林强; 张志剑


    本文研究了温度、碱度、液固比(L/S)及反应时间对粉煤灰水热法合成沸石过程中其溶解性的影响,结果表明在溶解阶段.反应时间、温度、碱度及液固比与粉煤灰的溶解性成正相关,而随着反应进入到结晶阶段,溶解的si和Al逐渐组合成沸石.在温度为95℃、L/S为6 mL/g、碱浓度(NaOH)为2 mol/L的条件下,Na-Pl沸石的合成在96h时产量最高,同时其阳离子交换容量(CEC)为206.7 cmol/kg,比表面积(SSA)为37.7 m/g,分别是原样粉煤灰的125倍和34倍,在水环境污染物吸附方面具有较大的应用潜能.%The effects of reaction temperature, alkalinity level, liquid-solid ratio (L/S) and reaction time on hydrothermal synthesis zeolite fiom coal fly ash were studied. The results showed that the reaction time, temperature, alkalinity and L/S ratio were positively related to the solubility of coal fly ash during its dissolution stage. In the following crystalline phase, the dissolved Si and Al gradually formed into zeolite. At the temperature of 95 ℃, L/S = 6 mL/g, C (NaOH) = 2 moL/L, the yield of synthesized zeolite Na-P1 reached the highest level at 96 h. The synthesized product had the cation exchange capacity (CEC) of 206.7 cmol/kg and specific surface area (SSA) of 37.7 m2/g, being 125 times and 34 times of the raw coal fly ash, respectively. The combined zeolite obtained fiom coal fly ash showed a large adsorption potential in environmental contaminants treatments.

  14. Learning for Autonomous Navigation (United States)

    Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric


    Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

  15. Neural network regulation driven by autonomous neural firings (United States)

    Cho, Myoung Won


    Biological neurons naturally fire spontaneously due to the existence of a noisy current. Such autonomous firings may provide a driving force for network formation because synaptic connections can be modified due to neural firings. Here, we study the effect of autonomous firings on network formation. For the temporally asymmetric Hebbian learning, bidirectional connections lose their balance easily and become unidirectional ones. Defining the difference between reciprocal connections as new variables, we could express the learning dynamics as if Ising model spins interact with each other in magnetism. We present a theoretical method to estimate the interaction between the new variables in a neural system. We apply the method to some network systems and find some tendencies of autonomous neural network regulation.

  16. Proportionality and Autonomous Weapons Systems

    NARCIS (Netherlands)

    van den Boogaard, J.


    Given the swift technologic development, it may be expected that the availability of the first truly autonomous weapons systems is fast approaching. Once they are deployed, these weapons will use artificial intelligence to select and attack targets without further human intervention. Autonomous weap

  17. Autonomous Learner Model Resource Book (United States)

    Betts, George T.; Carey, Robin J.; Kapushion, Blanche M.


    "Autonomous Learner Model Resource Book" includes activities and strategies to support the development of autonomous learners. More than 40 activities are included, all geared to the emotional, social, cognitive, and physical development of students. Teachers may use these activities and strategies with the entire class, small groups, or…

  18. Multi-mission, autonomous, synthetic aperture radar (United States)

    Walls, Thomas J.; Wilson, Michael L.; Madsen, David; Jensen, Mark; Sullivan, Stephanie; Addario, Michael; Hally, Iain


    Unmanned aerial systems (UASs) have become a critical asset in current battlespaces and continue to play an increasing role for intelligence, surveillance and reconnaissance (ISR) missions. With the development of medium-to-low altitude, rapidly deployable aircraft platforms, the ISR community has seen an increasing push to develop ISR sensors and systems with real-time mission support capabilities. This paper describes recent flight demonstrations and test results of the RASAR (Real-time, Autonomous, Synthetic Aperture Radar) sensor system. RASAR is a modular, multi-band (L and X) synthetic aperture radar (SAR) imaging sensor designed for self-contained, autonomous, real-time operation with mission flexibility to support a wide range of ISR needs within the size, weight and power constraints of Group III UASs. The sensor command and control and real-time image formation processing are designed to allow integration of RASAR into a larger, multi-intelligence system of systems. The multi-intelligence architecture and a demonstration of real-time autonomous cross-cueing of a separate optical sensor will be presented.

  19. Characterisation and use of biomass fly ash in cement-based materials. (United States)

    Rajamma, Rejini; Ball, Richard J; Tarelho, Luís A C; Allen, Geoff C; Labrincha, João A; Ferreira, Victor M


    This paper presents results about the characterisation of the biomass fly ashes sourced from a thermal power plant and from a co-generation power plant located in Portugal, and the study of new cement formulations incorporated with the biomass fly ashes. The study includes a comparative analysis of the phase formation, setting and mechanical behaviour of the new cement-fly ash formulations based on these biomass fly ashes. Techniques such as X-ray diffraction (XRD), X-ray fluorescence spectroscopy (XRF), thermal gravimetric and differential thermal analysis (TG/DTA), X-ray photoelectron spectroscopy (XPS), scanning electron microscopy (SEM) and environmental scanning electron spectroscopy (ESEM) were used to determine the structure and composition of the formulations. Fly ash F1 from the thermal power plant contained levels of SiO(2), Al(2)O(3) and Fe(2)O(3) indicating the possibility of exhibiting pozzolanic properties. Fly ash F2 from the co-generation plant contained a higher quantity of CaO ( approximately 25%). The fly ashes are similar to class C fly ashes according to EN 450 on the basis of chemical composition. The hydration rate and phase formation are greatly dependant on the samples' alkali content and water to binder (w/b) ratio. In cement based mortar with 10% fly ash the basic strength was maintained, however, when 20% fly ash was added the mechanical strength was around 75% of the reference cement mortar. The fly ashes contained significant levels of chloride and sulphate and it is suggested that the performance of fly ash-cement binders could be improved by the removal or control of these chemical species.

  20. Evolutionary Autonomous Health Monitoring System (EAHMS) Project (United States)

    National Aeronautics and Space Administration — For supporting NASA's Robotics, Tele-Robotics and Autonomous Systems Roadmap, we are proposing the "Evolutionary Autonomous Health Monitoring System" (EAHMS) for...

  1. Bolivia: ¿Es posible la construcción de un nuevo Estado? La Asamblea Constituyente y las Autonomías Departamentales Bolivia: Is the Formation of a New State Possible? The Constituent Assembly and the Departmental Autonomies

    Directory of Open Access Journals (Sweden)



    Full Text Available En 2007 se dieron en Boliva conflictos en torno a la Asamblea Constituyente, las autonomías y la asignación de los recursos del Estado. Las alineaciones de los diferentes actores políticos con respecto al tema de las autonomías demarcó la línea de división entre los aliados del gobierno y la oposición. Este trabajo, además de describir estos hechos, también muestra las tensiones entre los poderes del Estado, así como el desempeño económico y las relaciones exteriores establecidas por el gobierno del presidente Evo Morales.In Bolivia during 2007 conflicts emerged in response to the Constituent Assembly, the autonomies, and the allocation of the State´s resources. The alliances of the political actors in response to these issues defined the division between the government and opposition allies. In addition to describing these facts, this paper also analyzes the tensions among the executive, legislative and judiciary powers; and the economic performance and foreign relations established by the government of President Evo Morales.

  2. Roll Control in Fruit Flies

    CERN Document Server

    Beatus, Tsevi; Cohen, Itai


    Due to aerodynamic instabilities, stabilizing flapping flight requires ever-present fast corrective actions. Here we investigate how flies control body roll angle, their most susceptible degree of freedom. We glue a magnet to each fly, apply a short magnetic pulse that rolls it in mid-air, and film the corrective maneuver. Flies correct perturbations of up to $100^{\\circ}$ within $30\\pm7\\mathrm{ms}$ by applying a stroke-amplitude asymmetry that is well described by a linear PI controller. The response latency is $\\sim5\\mathrm{ms}$, making the roll correction reflex one of the fastest in the animal kingdom.

  3. Autonomous Gaussian Decomposition

    CERN Document Server

    Lindner, Robert R; Murray, Claire E; Stanimirović, Snežana; Babler, Brian L; Heiles, Carl; Hennebelle, Patrick; Goss, W M; Dickey, John


    We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21cm absorption spectra from the 21cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the HI line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the up...

  4. Mobile Intelligent Autonomous Systems

    Directory of Open Access Journals (Sweden)

    Jitendra R. Raol


    Full Text Available Mobile intelligent autonomous systems (MIAS is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i perception and reasoning, (ii mobility and navigation,(iii haptics and teleoperation, (iv image fusion/computervision, (v modelling of manipulators, (vi hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii vehicle-robot path and motionplanning/control, (viii human-machine interfaces for interaction between humans and robots, and (ix application of artificial neural networks (ANNs, fuzzy logic/systems (FLS,probabilistic/approximate reasoning (PAR, Bayesian networks(BN and genetic algorithms (GA to the above-mentioned problems. Also, multi-sensor data fusion (MSDF playsvery crucial role at many levels of the data fusion process:(i kinematic fusion (position/bearing tracking, (ii imagefusion (for scene recognition, (iii information fusion (forbuilding world models, and (iv decision fusion (for tracking,control actions. The MIAS as a technology is useful for automation of complex tasks, surveillance in a hazardousand hostile environment, human-assistance in very difficultmanual works, medical robotics, hospital systems, autodiagnosticsystems, and many other related civil and military systems. Also, other important research areas for MIAScomprise sensor/actuator modelling, failure management/reconfiguration, scene understanding, knowledge representation, learning and decision-making. Examples ofdynamic systems considered within the MIAS would be:autonomous systems (unmanned ground vehicles, unmannedaerial vehicles, micro/mini air vehicles, and autonomousunder water vehicles, mobile/fixed robotic systems, dexterousmanipulator robots, mining robots, surveillance systems,and networked/multi-robot systems, to name a few.Defence Science Journal, 2010, 60(1, pp.3-4,

  5. Novel Approaches for Spacecraft Formation Robustness and Performance using Distributed Estimation, Control and Communication Project (United States)

    National Aeronautics and Space Administration — Formation flight can provide the benefits of a large effective telescope using precision formation flying of smaller, lower cost, collaborating telescopes. A...

  6. Subtropical Fruit Fly Invasions into Temperate Fruit Fly Territory in California's San Joaquin Valley (United States)

    Subtropical fruit fly species including peach fruit fly, Bactrocera zonata (Saunders); melon fly, B. cucurbitae (Coquillett); oriental fruit fly, B. dorsalis (Hendel); and Mediterranean fruit fly, Ceratitis capitata Weidemann, have been detected in the past decade in the San Joaquin Valley of Califo...

  7. Managing the Fruit Fly Experiment. (United States)

    Jeszenszky, Arleen W.


    Describes a sophisticated version of the fruit fly experiment for teaching concepts about genetics to biology students. Provides students with the opportunity to work with live animals over an extended period. (JRH)

  8. Quantitative proteomics on the fly

    NARCIS (Netherlands)

    Gouw, J.W.


    The development of multicellular organisms is characterized by complex processes that progressively transform essentially a single cell into a creature with complicated structures and highly specialized functions. The fruit fly Drosophila melanogaster provides an excellent model system to investigat

  9. Autonomous software: Myth or magic?

    CERN Document Server

    Allan, Alasdair; Saunders, Eric S


    We discuss work by the eSTAR project which demonstrates a fully closed loop autonomous system for the follow up of possible micro-lensing anomalies. Not only are the initial micro-lensing detections followed up in real time, but ongoing events are prioritised and continually monitored, with the returned data being analysed automatically. If the ``smart software'' running the observing campaign detects a planet-like anomaly, further follow-up will be scheduled autonomously and other telescopes and telescope networks alerted to the possible planetary detection. We further discuss the implications of this, and how such projects can be used to build more general autonomous observing and control systems.

  10. Fly ash. Quality recycling material

    Energy Technology Data Exchange (ETDEWEB)

    Blomster, D.; Leisio, C.


    Imatran Voima`s coal-fired power plants not only generate power and heat but also produce fly ash which is suitable raw material for recycling. This material for recycling is produced in the flue gas cleaning process. It is economical and, thanks to close quality control, is suitable for use as a raw material in the building materials industry, in asphalt production, and in earthworks. Structures made from fly ash are also safe from an environmental point of view. (orig.)

  11. 3D flyable curves for an autonomous aircraft (United States)

    Bestaoui, Yasmina


    The process of conducting a mission for an autonomous aircraft includes determining the set of waypoints (flight planning) and the path for the aircraft to fly (path planning). The autonomous aircraft is an under-actuated system, having less control inputs than degrees of freedom and has two nonholonomic (non integrable) kinematic constraints. Consequently, the set of feasible trajectories will be restricted and the problem of trajectory generation becomes more complicated than a simple interpolation. Care must be taken in the selection of the basic primitives to respect the kinematic and dynamic limitations. The topic of this paper is trajectory generation using parametric curves. The problem can be formulated as follows: to lead the autonomous aircraft from an initial configuration qi to a final configuration qf in the absence of obstacles, find a trajectory q(t) for 0 ≤t ≤ T. The trajectory can be broken down into a geometric path q(s), s being the curvilinear abscissa and s=s(t) a temporal function. In 2D the curves fall into two categories: • Curves whose coordinates have a closed form expressions, for example B-splines, quintic polynomials or polar splines. • Curves whose curvature is a function of their arc length for example clothoids, cubic spirals, quintic or intrinsic splines. Some 3D solutions will be presented in this paper and their effectiveness discussed towards the problem in hand.

  12. Flying in Two Dimensions

    CERN Document Server

    Prakash, Manu


    Diversity and specialization of behavior in insects is unmatched. Insects hop, walk, run, jump, row, swim, glide and fly to propel themselves in a variety of environments. We have uncovered an unusual mode of propulsion of aerodynamic flight in two dimensions in Waterlilly Beetles \\emph{(Galerucella)}. The adult beetles, often found in water lilly ponds, propel themselves strictly in a two-dimensional plane on the surface of water via flapping wing flight. Here we analyze the aerodynamics of this peculiar flight mode with respect to forces exerted on the organism during flight. The complexity of 2-D flight is captured by accounting for additional forces beyond gravitational, thrust, lift and drag, exerted on the insect body in 3D flight. Understanding this constrained propulsion mode requires accounting for viscous drag, surface tension, buoyancy force, and capillary-wave drag. Moreover, dramatic differences exist in the magnitude of the resultant forces in 2D vs. 3D flight. Here, in this fluid dynamics video...

  13. Autonomous gliding entry guidance with geographic constraints

    Institute of Scientific and Technical Information of China (English)

    Guo Jie; Wu Xuzhong; Tang Shengjing


    This paper presents a novel three-dimensional autonomous entry guidance for relatively high lift-to-drag ratio vehicles satisfying geographic constraints and other path constraints. The guidance is composed of onboard trajectory planning and robust trajectory tracking. For trajectory planning, a longitudinal sub-planner is introduced to generate a feasible drag-versus-energy profile by using the interpolation between upper boundary and lower boundary of entry corridor to get the desired trajectory length. The associated magnitude of the bank angle can be specified by drag profile, while the sign of bank angle is determined by lateral sub-planner. Two-reverse mode is utilized to satisfy waypoint constraints and dynamic heading error corridor is utilized to satisfy no-fly zone constraints. The longitudinal and lateral sub-planners are iteratively employed until all of the path constraints are satisfied. For trajectory tracking, a novel tracking law based on the active disturbance rejection control is introduced. Finally, adaptability tests and Monte Carlo simulations of the entry guidance approach are performed. Results show that the proposed entry guidance approach can adapt to different entry missions and is able to make the vehicle reach the prescribed target point precisely in spite of geographic constraints.

  14. Phlebotomine sand flies (Diptera: Psychodidae) transmitting visceral leishmaniasis and their geographical distribution in China: a review. (United States)

    Guan, Li-Ren; Zhou, Zheng-Bin; Jin, Chang-Fa; Fu, Qing; Chai, Jun-Jie


    After the existence of phlebotomine sand flies was first reported in China in 1910, the distribution of different species and their role in the transmission of visceral leishmaniasis (VL) have been extensively studied. Up until 2008, four species have been verified as vectors of VL, namely, Phlebotomus chinensis (Ph. sichuanensis), Ph. longiductus (Ph. chinensis longiductus), Ph. wui (Ph. major wui), and Ph. alexandri. The sand fly species vary greatly depending on the natural environments in the different geographic areas where they are endemic. Ph. chinensis is euryecious and adaptable to different ecologies, and is thus distributed widely in the plain, mountainous, and Loess Plateau regions north of the Yangtze River. Ph. longiductus is mainly distributed in ancient oasis areas south of Mt. Tianshan in the Xinjiang Uygur autonomous region. Ph. wui is the predominant species in deserts with Populus diversifolia and Tamarix vegetation in Xinjiang and the western part of the Inner Mongolia autonomous region. Finally, Ph. alexandri is steroecious and found only in stony desert areas, such as at the foot of the mountains in Xinjiang and the western Hexi Corridor, in Gansu province. This review summarized the relationship between the geographic distribution pattern of the four sand fly species and their geographical landscape in order to foster research on disease distribution and sand fly control planning. Furthermore, some problems that remained to be solved about vectors of VL in China were discussed.

  15. Size fraction characterization of highly-calcareous fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Itskos, Grigorios; Koukouzas, Nikolaos [Institute for Solid Fuels Technology and Applications, Centre for Research and Technology Hellas, 357-359 Mesogeion Avenue, GR-152 31, Halandri, Athens (Greece); Itskos, Socrates [Department of Chemical Technology and the Environment, Steam Electric Station of Amynteon-Filotas, Public Power Corporation of Greece, GR-532 00, Amynteon (Greece)


    The chemical and mineralogical composition of lignite fly ash (FA) varies as a function of the prevalent conditions in both the processes of power production and lignite mining. The differentiation of the qualitative and quantitative composition of the highly-calcareous lignite fly ash, as a function of its particle size distribution, is verified in this paper. According to the results of the conducted research, a fine-grained fraction of considerable amount presents properties that obstruct the sustainable exploitation of calcareous lignite fly ash in cement industry applications. On the other hand, the same grain fraction (because of its hydraulic properties) can be utilized in other sort of applications, based on different criteria, i.e. in road constructions. The coarse-grained fraction (which reflects a low proportion to the total fly ash output) presents the same undesired characteristics as well. Rather, the intermediate grain fraction (75-150 {mu}m) presents the highly desirable properties when fly ash is utilized as a pozzolanic additive. In addition, the mechanism of the formation of the intermediate grain fraction strongly prevents the factors that cause the variation of fly ash-quality. It is therefore the optimum part of the whole amount of lignite FA, to be utilized as additive in cement manufacturing. The outcomes of this paper will hopefully contribute towards the crucial goal of the expansion of the utilization of calcareous lignite fly ash by proposing a more effective way of using this material, basically by taking advantage of its fundamental chemical and mineralogical properties. (author)

  16. SIRTF autonomous star tracker (United States)

    van Bezooijen, Roelof W. H.


    Two redundant AST-301 autonomous star trackers (AST) serve as the primary attitude sensors for JPL's space infrared telescope facility (SIRTF). These units, which employ a 1553B interface to output their attitude quaternions and uncertainty at a 2 Hz rate, provide a 1 σaccuracy of better than 0.18, 0.18, and 5.1 arcsec about their X, Y, and Z axes, respectively. This is a factor 5.5 better than the accuracy of the flight-proven AST-201 from which the trackers were derived. To obtain this improvement, the field of view (FOV) was reduced to 5 by 5 degrees, the accurate Tycho-1 and ACT catalogs were used for selecting the 71,830 guide stars, star image centroiding was improved to better than 1/50th of a pixel, and optimal attitude estimation was implemented. In addition, the apparent direction to each guide star in the FOV is compensated for proper motion, parallax, velocity aberration, and optical distortion. The AST-301 employs autonomous time-delayed integration (TDI) to achieve image motion compensation (IMC) about its X axis that prevents accuracy degradation, even at rates of 2.1 deg/s, making it actually suitable for use on spinning spacecraft. About the Y axis, a software function called "image motion accommodation" (IMA) processes smeared images to maximize the signal to noise ratio of the resulting synthetic images, which enables robust and accurate tracking at rates tested up to 0.42 deg/s. The AST-301 is capable of acquiring its attitude anywhere in the sky in less than 3 seconds with a 99.98% probability of success, without requiring any a priori attitude knowledge. Following a description of the 7.1 kg AST-301, its operation and IMA, the methodology for translating the night sky test data into performance numbers is presented, while, in addition, the results of tests used to measure alignment stability over temperature are included.

  17. Framework for Autonomous Optimization Project (United States)

    National Aeronautics and Space Administration — Phoenix Integration and MIT propose to create a novel autonomous optimization tool and application programming interface (API). The API will demonstrate the ability...

  18. Cranial Autonomic Symptoms in Migraine

    Directory of Open Access Journals (Sweden)

    J Gordon Millichap


    Full Text Available Cranial autonomic symptoms (CAS in patients with migraine and cluster headaches (CH were characterized and compared in a prospective study of consecutive patients attending a headache clinic at Taipei Veterans General Hospital, Taiwan.

  19. Autonomic Function in Neurodegenerative Diseases

    DEFF Research Database (Denmark)

    Sørensen, Gertrud Laura; Jennum, Poul Jørgen


    , which includes the cardiac centre and controls autonomic functions, and therefore autonomic dysfunction may be experienced early in the disease course. Sleep disturbances are also common non-motor complications of PD, and therefore PD patients undergo polysomnography at the Danish Center for Sleep......Neurodegenerative diseases are highly debilitating and often lead to severe morbidity and even death. Parkinson’s disease (PD) is the second most common neurodegenerative disease after Alzheimer’s disease. According to the Braak staging study, the progressionof PD starts in the medulla oblongata...... Medicine to assess the sleep disturbances. The aim of this PhD dissertation was to: 1) Develop a method to investigate autonomic changes during sleep in neurodegenerative diseases, and apply this method on PD, iRBD and narcolepsy patients to evaluate the autonomic function in these diseases. 2) Validate...

  20. Autonomous Control Reconfiguration of Aerospace Vehicle Based on Control Effectiveness Estimation

    Institute of Scientific and Technical Information of China (English)


    Future aerospace vehicles (ASV) are designed to fly in both inner and extra atrmospheric fields, which requires autonomous adaptability to the uncertainties emanated from abrupt faults and continuously time-varying environments. An autonomous control reconfiguration scheme is presented for ASV to deal with the uncertainties on the base of control effectiveness estimation. The on-line estimation methods for the time-varying control effectiveness of linear control system are investigated. Some sufficient conditions for the estimable system are given for different cases. There are proposed corresponding on-line estimation algorithms which are proved to be convergent and robust to noise using the least-square-based methods. On the ground of fuzzy logic and linear programming, the control allocation algorithms, which are able to implement the autonomous control reconfiguration through the redundant actuators, are put forward. Finally, an integrated system is developed to verify the scheme and algorithms by way of numerical simulation and analysis.

  1. Synthesis of Zeolites by Alkaline Activation of Fly Ash

    Institute of Scientific and Technical Information of China (English)


    In terms of mineral transformation, and chemical composition of acid-soluble component as a function of reaction time, the effect of alkaline solution on zeolite-like fly ash was studied by employing fly ash and NaOH solution as starting materials. When fly ash and 1€? 0mol/L NaOH solution were processed at 100℃ for 24h with 1:10 W/S rat io in a relatively closed system, powder XRD patterns of resulting pro ducts indicated the formation of various zeolites. Zeolite P crystalli zed early at low alkaline concentration, which was replaced then by ze olites X and A. At high concentration, hydroxy sodalite was the only n ew phase. Quartz, in fly ash and NaOH solution system, gradually disso lved, and mullite, however, remained stable. It was concluded that, wi th Al/Si and Na/Si finally reaching equilibrium in molar ratio, compos ition of starting mixtures affects the crystallization of zeolite from fly ash.

  2. Interleukin-10 inhibits autonomous myelopoiesis in patients with myelofibrosis. (United States)

    Geissler, Klaus; Jäger, Eva; Öhler, Leopold; Gisslinger, Heinz; Jäger, Ulrich; Lechner, Klaus


    The spontaneous formation of colony-forming units granulocyte/macrophage (CFU-GM) in semisolid cultures has been shown to be due to the endogenous release of cytokines and/or to the hypersensitivity of cells against growth factors. We have reported that increased autonomous CFU-GM growth is an in vitro characteristic of myelofibrosis (MF) which may reflect aberrant hematopoiesis in vivo. Because of its cytokine synthesis-inhibiting action, we speculated that interleukin-10 (IL-10) may inhibit pathological overproduction of myeloid cells in MF by suppression of autonomous myelopoiesis. In this study, IL-10 significantly inhibited autonomous CFU-GM formation in vitro from peripheral blood mononuclear cells (PB MNC) in 10 of 11 patients with MF tested. In all patients, there was a mean inhibition of 69% ranging from 35% to 100%. Suppression of autonomous CFU-GM formation by IL-10 was dose dependent and reversible by the addition of anti-IL-10 antibodies. Our results indicate that IL-10 is a potentially useful molecule to affect aberrant myelopoiesis in patients with MF.


    Energy Technology Data Exchange (ETDEWEB)

    Lindner, Robert R.; Vera-Ciro, Carlos; Murray, Claire E.; Stanimirović, Snežana; Babler, Brian [Department of Astronomy, University of Wisconsin, 475 North Charter Street, Madison, WI 53706 (United States); Heiles, Carl [Radio Astronomy Lab, UC Berkeley, 601 Campbell Hall, Berkeley, CA 94720 (United States); Hennebelle, Patrick [Laboratoire AIM, Paris-Saclay, CEA/IRFU/SAp-CNRS-Université Paris Diderot, F-91191 Gif-sur Yvette Cedex (France); Goss, W. M. [National Radio Astronomy Observatory, P.O. Box O, 1003 Lopezville, Socorro, NM 87801 (United States); Dickey, John, E-mail: [University of Tasmania, School of Maths and Physics, Private Bag 37, Hobart, TAS 7001 (Australia)


    We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21 cm absorption spectra from the 21 cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the H i line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the upcoming Square Kilometer Array and pathfinder telescopes.

  4. [Autonomic peripheral neuropathy]. (United States)

    Adams, David; Cauquil, Cecile; Lozeron, Pierre


    The mechanisms of dysautonomic disturbances are varied and mostly acquired. They can result from lesions of sympathetic or parasympathetic vegetative fibers located in the peripheral contingent, or in the somatic contingent by demyelination or axonal loss; or more rarely by cellular bodies in the sympathetic or parasympathetic ganglia. Several chronic peripheral neuropathies can be associated with dysautonomia. Only some causes need to be known because they can be clinically significant. Dysautonomia may be seen during chronic acquired neuropathies but also acute or subacute ones. The most frequent cause in the world is the dysautonomia of the diabetes; it affects all the systems; the cardiovascular dysfunction has an impact on the prognosis for survival when it is severe. Hereditary autonomic neuropathies are rare; they can declare themselves very early during the Riley-Day syndrome or very late during amyloid polyneuropathies due to transthyretin gene mutation. The diagnosis can be confirmed by molecular biology. The dysautonomia is frequent and often severe. These neuropathies justify symptomatic treatment to improve quality of life. For some of them, a specific treatment can be proposed to treat the causal affection to try to stop the progression of the disease.

  5. Is paramecium swimming autonomic? (United States)

    Bandyopadhyay, Promode R.; Toplosky, Norman; Hansen, Joshua


    We seek to explore if the swimming of paramecium has an underlying autonomic mechanism. Such robotic elements may be useful in capturing the disturbance field in an environment in real time. Experimental evidence is emerging that motion control neurons of other animals may be present in paramecium as well. The limit cycle determined using analog simulation of the coupled nonlinear oscillators of olivo-cerebellar dynamics (ieee joe 33, 563-578, 2008) agrees with the tracks of the cilium of a biological paramecium. A 4-motor apparatus has been built that reproduces the kinematics of the cilium motion. The motion of the biological cilium has been analyzed and compared with the results of the finite element modeling of forces on a cilium. The modeling equates applied torque at the base of the cilium with drag, the cilium stiffness being phase dependent. A low friction pendulum apparatus with a multiplicity of electromagnetic actuators is being built for verifying the maps of the attractor basin computed using the olivo-cerebellar dynamics for different initial conditions. Sponsored by ONR 33.

  6. Geochemically structural characteristics of municipal solid waste incineration fly ash particles and mineralogical surface conversions by chelate treatment. (United States)

    Kitamura, Hiroki; Sawada, Takaya; Shimaoka, Takayuki; Takahashi, Fumitake


    Leaching behaviors of heavy metals contained in municipal solid waste incineration (MSWI) fly ash have been studied well. However, micro-characteristics of MSWI fly ash particles are still uncertain and might be non-negligible to describe their leaching behaviors. Therefore, this study investigated micro-characteristics of MSWI fly ash particles, especially their structural properties and impacts of chelate treatment on surface characteristics. According to SEM observations, raw fly ash particles could be categorized into four types based on their shapes. Because chelate treatment changed the surface of fly ash particles dramatically owing to secondary mineral formations like ettringite, two more types could be categorized for chelate-treated fly ash particles. Acid extraction experiments suggest that fly ash particles, tested in this study, consist of Si-base insoluble core structure, Al/Ca/Si-base semi-soluble matrices inside the body, and KCl/NaCl-base soluble aggregates on the surface. Scanning electron microscope (SEM) observations of the same fly ash particles during twice moistening treatments showed that KCl/NaCl moved under wet condition and concentrated at different places on the particle surface. However, element mobility depended on secondary mineral formations. When insoluble mineral like gypsum was generated and covered the particle surface, it inhibited element transfer under wet condition. Surface characteristics including secondary mineral formation of MSWI fly ash particles are likely non-negligible to describe trace element leaching behaviors.

  7. Fly-in/Fly-out: Implications for Community Sustainability

    Directory of Open Access Journals (Sweden)

    Keith Storey


    Full Text Available “Fly-in/fly-out” is a form of work organization that has become the standard model for new mining, petroleum and other types of resource development in remote areas. In many places this “no town” model has replaced that of the “new town.” The work system has both beneficial and adverse implications for the sustainability of both existing communities near new resource developments and for the more distant communities from which workers are drawn. This paper explores these outcomes drawing upon examples from North America and Australia.

  8. Escherichia coli fliAZY operon.


    Mytelka, D S; Chamberlin, M J


    We have cloned the Escherichia coli fliAZY operon, which contains the fliA gene (the alternative sigma factor sigma F) and two novel genes, fliZ and fliY. Transcriptional mapping of this operon shows two start sites, one of which is preceded by a canonical E sigma F-dependent consensus and is dependent on sigma F for expression in vivo and in vitro. We have overexpressed and purified sigma F and demonstrated that it can direct core polymerase to E sigma F-dependent promoters. FliZ and FliY ar...

  9. Integrated Motion Planning and Autonomous Control Technology for Autonomous ISR Project (United States)

    National Aeronautics and Space Administration — SSCI and MIT propose to design, implement and test a comprehensive Integrated Mission Planning & Autonomous Control Technology (IMPACT) for Autonomous ISR...

  10. Susceptibility of low-chill blueberry cultivars to Mediterranean fruit fly, oriental fruit fly, and melon fly (Diptera: Tephritidae). (United States)

    Follett, Peter A; Zee, Francis T; Hamasaki, Randall T; Hummer, Kim; Nakamoto, Stuart T


    No-choice tests were conducted to determine whether fruit of southern highbush blueberry, Vaccinium corymbosum L., hybrids are hosts for three invasive tephritid fruit flies in Hawaii. Fruit of various blueberry cultivars was exposed to gravid female flies of Bactrocera dorsalis Hendel (oriental fruit fly), Ceratitis capitata (Wiedemann) (Mediterranean fruit fly), or Bactrocera cucurbitae Coquillet (melon fly) in screen cages outdoors for 6 h and then held on sand in the laboratory for 2 wk for pupal development and adult emergence. Each of the 15 blueberry cultivars tested were infested by oriental fruit fly and Mediterranean fruit fly, confirming that these fruit flies will oviposit on blueberry fruit and that blueberry is a suitable host for fly development. However, there was significant cultivar variation in susceptibility to fruit fly infestation. For oriental fruit fly, 'Sapphire' fruit produced an average of 1.42 puparia per g, twice as high as that of the next most susceptible cultivar 'Emerald' (0.70 puparia per g). 'Legacy', 'Biloxi', and 'Spring High' were least susceptible to infestation, producing only 0.20-0.25 oriental fruit fly puparia per g of fruit. For Mediterranean fruit fly, 'Blue Crisp' produced 0.50 puparia per g of fruit, whereas 'Sharpblue' produced only 0.03 puparia per g of fruit. Blueberry was a marginal host for melon fly. This information will aid in development of pest management recommendations for blueberry cultivars as planting of low-chill cultivars expands to areas with subtropical and tropical fruit flies. Planting of fruit fly resistant cultivars may result in lower infestation levels and less crop loss.

  11. Autonomous Landing on Moving Platforms

    KAUST Repository

    Mendoza Chavez, Gilberto


    This thesis investigates autonomous landing of a micro air vehicle (MAV) on a nonstationary ground platform. Unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs) are becoming every day more ubiquitous. Nonetheless, many applications still require specialized human pilots or supervisors. Current research is focusing on augmenting the scope of tasks that these vehicles are able to accomplish autonomously. Precise autonomous landing on moving platforms is essential for self-deployment and recovery of MAVs, but it remains a challenging task for both autonomous and piloted vehicles. Model Predictive Control (MPC) is a widely used and effective scheme to control constrained systems. One of its variants, output-feedback tube-based MPC, ensures robust stability for systems with bounded disturbances under system state reconstruction. This thesis proposes a MAV control strategy based on this variant of MPC to perform rapid and precise autonomous landing on moving targets whose nominal (uncommitted) trajectory and velocity are slowly varying. The proposed approach is demonstrated on an experimental setup.

  12. Dermatobia, the neotropical warble fly. (United States)

    Sancho, E


    The neotropical warble fly, Dermatobia hominis (Fig. 1), has plagued neotropical America since preColombian times, and has become an economically important pest causing substantial losses to the meat, milk and leather industries from northern Mexico down to northern Argentina. Its life cycle (Box 1) is astonishingly complex, requiring another insect as a phoretic carrier of its eggs to the skin of its mammal hosts. Here Eugenio Sancho discusses factors that contribute to the current economic and public health importance of this myiasis-causing fly.

  13. Autonomous mobile robots: Vehicles with cognitive control

    Energy Technology Data Exchange (ETDEWEB)

    Meystel, A.


    This book explores a new rapidly developing area of robotics. It describes the state-of-the-art intelligence control, applied machine intelligence, and research and initial stages of manufacturing of autonomous mobile robots. A complete account of the theoretical and experimental results obtained during the last two decades together with some generalizations on Autonomous Mobile Systems are included in this book. Contents: Introduction; Requirements and Specifications; State-of-the-art in Autonomous Mobile Robots Area; Structure of Intelligent Mobile Autonomous System; Planner, Navigator; Pilot; Cartographer; Actuation Control; Computer Simulation of Autonomous Operation; Testing the Autonomous Mobile Robot; Conclusions; Bibliography.

  14. Shape formation algorithm



    This project concerns the implementation of a decentralized algorithm for shape formation. The first idea was to test this algorithm with a swarm of autonomous drones but, due to the lack of time and the complexity of the project, the work was just developed in 2D and in simulation.

  15. Fruit Flies Help Human Sleep Research (United States)

    Skip Navigation Bar Home Current Issue Past Issues Fruit Flies Help Human Sleep Research Past Issues / Summer 2007 ... courtesy of NIGMS Neuroscientist Chiara Cirelli uses experimental fruit flies to study sleep. Although it may be tough ...

  16. Scalable autonomous operations of unmanned assets (United States)

    Jung, Sunghun

    Although there have been great theoretical advances in the region of Unmanned Aerial Vehicle (UAV) autonomy, applications of those theories into real world are still hesitated due to unexpected disturbances. Most of UAVs which are currently used are mainly, strictly speaking, Remotely Piloted Vehicles (RPA) since most works related with the flight control, sensor data analysis, and decision makings are done by human operators. To increase the degree of autonomy, many researches are focused on developing Unmanned Autonomous Aerial Vehicle (UAAV) which can takeoff, fly to the interested area by avoiding unexpected obstacles, perform various missions with decision makings, come back to the base station, and land on by itself without any human operators. To improve the performance of UAVs, the accuracies of position and orientation sensors are enhanced by integrating a Unmanned Ground Vehicle (UGV) or a solar compass to a UAV; Position sensor accuracy of a GPS sensor on a UAV is improved by referencing the position of a UGV which is calculated by using three GPS sensors and Weighted Centroid Localization (WCL) method; Orientation sensor accuracy is improved as well by using Three Pixel Theorem (TPT) and integrating a solar compass which composed of nine light sensors to a magnetic compass. Also, improved health management of a UAV is fulfilled by developing a wireless autonomous charging station which uses four pairs of transmitter and receiver magnetic loops with four robotic arms. For the software aspect, I also analyze the error propagation of the proposed mission planning hierarchy to achieve the safest size of the buffer zone. In addition, among seven future research areas regarding UAV, this paper mainly focuses on developing algorithms of path planning, trajectory generation, and cooperative tactics for the operations of multiple UAVs using GA based multiple Traveling Salesman Problem (mTSP) which is solved by dividing into m number of Traveling Salesman

  17. Safe Autonomous Flight Environment (SAFE50) for the Notional Last 50 ft of Operation of 55 lb Class of UAS (United States)

    Krishnakumar, Kalmanje; Kopardekar, Parimal; Ippolito, Corey; Melton, John E.; Stepanyan, Vahram; Sankararaman, Shankar; Nikaido, Ben


    The most difficult phase of small Unmanned Aerial System (sUAS) deployment is autonomous operations below the notional 50 ft in urban landscapes. Understanding the feasibility of safely flying sUAS autonomously below 50 ft is a game changer for many civilian applications. This paper outlines three areas of research currently underway which address key challenges for flight in the urban landscape. These are: (1) Off-line and On-board wind estimation and accommodation; (2) Real-time trajectory planning via characterization of obstacles using a LIDAR; (3) On-board information fusion for real-time decision-making and safe trajectory generation.

  18. Localization from Visual Landmarks on a Free-Flying Robot (United States)

    Coltin, Brian; Fusco, Jesse; Moratto, Zack; Alexandrov, Oleg; Nakamura, Robert


    We present the localization approach for Astrobee,a new free-flying robot designed to navigate autonomously on board the International Space Station (ISS). Astrobee will conduct experiments in microgravity, as well as assisst astronauts and ground controllers. Astrobee replaces the SPHERES robots which currently operate on the ISS, which were limited to operating in a small cube since their localization system relied on triangulation from ultrasonic transmitters. Astrobee localizes with only monocular vision and an IMU, enabling it to traverse the entire US segment of the station. Features detected on a previously-built map, optical flow information,and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise.Finally, we extensively evaluate the behavior of the filter on atwo-dimensional testing surface.

  19. Remote Observation of Volcanos by Small Satellite Formations (United States)

    Schilling, Klaus; Zakšek, Klemen


    Volcanic eruptions, severe storms, or desert dust can seriously jeopardize the safety of the air traffic. To prevent encounters of airplanes with such clouds it is necessary to accurately monitor the cloud top heights, which is impossible using currently operational satellites. The most commonly used method for satellite cloud height estimation compares brightness temperature of the cloud with the atmospheric temperature profile. Because of its many uncertainties we propose to exploit the formation of four satellites providing images for photogrammetric analysis. Simultaneous observations from multiple satellites is necessary, because clouds can move with velocities over several m/s. With the proposed mission, we propose a formation of nano-satellites that simultaneously observe the clouds from different positions and orientations. The proposed formation of four satellites will fly in the same orbit with a distance between each satellite of 100 km on the height of 600 km. There are autonomous reaction capabilities realized to focus all satellites on the same surface point for joint observations, enabling by postprocessing 3D surface images. Each satellite will carry a camera operating in visible spectrum providing data with 35 m spatial resolution. Such data will make possible to monitor multilayer clouds with a vertical accuracy of 200 m.

  20. Autonomous underwater riser inspection tool

    Energy Technology Data Exchange (ETDEWEB)

    Camerini, Claudio; Marnet, Robson [Petrobras SA, (Brazil); Freitas, Miguel; Von der Weid, Jean Pierre [CPTI/PUC-Rio, Rio de Janeiro, (Brazil); Artigas Lander, Ricardo [EngeMOVI, Curitiba, (Brazil)


    The detection of damage on the riser is a serious concern for pipeline companies. Visual examinations by remotely operated vehicle (ROV) are presently carried out to detect the defects but this process has limitations and is expensive. This paper presents the development of a new tool to ensure autonomous underwater riser inspection (AURI) that uses the riser itself for guidance. The AURI, which is autonomous in terms of control and power supply, is equipped with several cameras that perform a complete visual inspection of the riser with 100 % coverage of the external surface of the riser. The paper presents the detailed characteristics of the first AURI prototype, describes its launching procedure and provides the preliminary test results from pool testing. The results showed that the AURI is a viable system for autonomous riser inspection. Offshore tests on riser pipelines are scheduled to be performed shortly.

  1. Hereditary sensory and autonomic neuropathies. (United States)

    Auer-Grumbach, Michaela


    Hereditary sensory and autonomic neuropathies (HSN/HSAN) are clinically and genetically heterogeneous disorders of the peripheral nervous system that predominantly affect the sensory and autonomic neurons. Hallmark features comprise not only prominent sensory signs and symptoms and ulcerative mutilations but also variable autonomic and motor disturbances. Autosomal dominant and autosomal recessive inheritance has been reported. Molecular genetics studies have identified disease-causing mutations in 11 genes. Some of the affected proteins have nerve-specific roles but underlying mechanisms have also been shown to involve sphingolipid metabolism, vesicular transport, structural integrity, and transcription regulation. Genetic and functional studies have substantially improved the understanding of the pathogenesis of the HSN/HSAN and will help to find preventive and causative therapies in the future.

  2. Advances in Flying Qualities (United States)


    Oct. 1967. 32. Jex, N. R., H. W. Allen, and H. E. Magdalena , Display Format Effects on Precision Tracking Performance. AMRL-TR-71-63, Aug. 1971. 33...34 bach -sidodneas," continue to specify the long-term response. excessive time delay is a common cause of pilot-induced oscillations. Because a pilot senes...uuigteFI temo afaenab M lggar0fctoet lbetl f -eeasliq ep n i loo aasla lemonsos ce asrdncsayt td h wlig sk Io rofwle".ler ANA %6 */ s~olmaalos evrlI

  3. Application of Fly Ash from Solid Fuel Combustion in Concrete

    DEFF Research Database (Denmark)

    Pedersen, Kim Hougaard


    reactor to test the impact of changes in operating conditions and fuel type on the AEA adsorption of ash and NOx formation. Increased oxidizing conditions, obtained by improved fuel-air mixing or higher excess air, decreased the AEA requirements of the produced ash by up to a factor of 25. This was due...... on a carbon black. The reactor was modeled with CFD and a relationship between oxygen concentration in the early stage of combustion and the AEA adsorption properties of the ash was observed. The NOx formation increased by up to three times with more oxidizing conditions and thus, there was a trade....... The AEA requirements of a fly ash can be suppressed by exposing it to oxidizing species, which oxidizes the carbon surface and thus prevents the AEA to be adsorbed. In the present work, two fly ashes have been ozonated in a fixed bed reactor and the results showed that ozonation is a potential post...

  4. Synthesis of hydroxy sodalite from coal fly ash using waste industrial brine solution. (United States)

    Musyoka, Nicholas M; Petrik, Leslie F; Balfour, Gillian; Gitari, Wilson M; Hums, Eric


    The effect of using industrial waste brine solution instead of ultra pure water was investigated during the synthesis of zeolites using three South African coal fly ashes as Si feedstock. The high halide brine was obtained from the retentate effluent of a reverse osmosis mine water treatment plant. Synthesis conditions applied were; ageing of fly ash was at 47 ° C for 48 hours, and while the hydrothermal treatment temperature was set at 140 ° C for 48 hours. The use of brine as a solvent resulted in the formation of hydroxy sodalite zeolite although unconverted mullite and hematite from the fly ash feedstock was also found in the synthesis product.

  5. Flies and Campylobacter infection of broiler flocks

    DEFF Research Database (Denmark)

    Hald, Birthe; Skovgård, Henrik; Bang, Dang Duong;


    A total of 8.2% of flies caught outside a broiler house in Denmark had the potential to transmit Campylobacter jejuni to chickens, and hundreds of flies per day passed through the ventilation system into the broiler house. Our study suggests that flies may be an important source of Campylobacter...

  6. Louse flies on birds of Baja California. (United States)

    Tella, J L; Rodríguez-Estrella, R; Blanco, G


    Louse flies were collected from 401 birds of 32 species captured in autumn of 1996 in Baja California Sur (Mexico). Only one louse fly species (Microlynchia pusilla) was found. It occurred in four of the 164 common ground doves (Columbina passerina) collected. This is a new a host species for this louse fly.


    Institute of Scientific and Technical Information of China (English)


    The mechanical properties and durability ( mainly frost-resistance and carbonation resistance ) of fly ash-CaO-CaSO4 .2H2O hardened paste are studied. The relationship among durability of harden ed fly ash paste, the quantity and distribution of hydrates and the initial p aste texture of hardened fly ash paste is presented.

  8. Gas House Autonomous System Monitoring (United States)

    Miller, Luke; Edsall, Ashley


    Gas House Autonomous System Monitoring (GHASM) will employ Integrated System Health Monitoring (ISHM) of cryogenic fluids in the High Pressure Gas Facility at Stennis Space Center. The preliminary focus of development incorporates the passive monitoring and eventual commanding of the Nitrogen System. ISHM offers generic system awareness, adept at using concepts rather than specific error cases. As an enabler for autonomy, ISHM provides capabilities inclusive of anomaly detection, diagnosis, and abnormality prediction. Advancing ISHM and Autonomous Operation functional capabilities enhances quality of data, optimizes safety, improves cost effectiveness, and has direct benefits to a wide spectrum of aerospace applications.

  9. The Bering Autonomous Target Detection

    DEFF Research Database (Denmark)

    Jørgensen, John Leif; Denver, Troelz; Betto, Maurizio


    An autonomous asteroid target detection and tracking method has been developed. The method features near omnidirectionality and focus on high speed operations and completeness of search of the near space rather than the traditional faint object search methods, employed presently at the larger...... telescopes. The method has proven robust in operation and is well suited for use onboard spacecraft. As development target for the method and the associated instrumentation the asteroid research mission Bering has been used. Onboard a spacecraft, the autonomous detection is centered around the fully...

  10. Discerning non-autonomous dynamics

    Energy Technology Data Exchange (ETDEWEB)

    Clemson, Philip T.; Stefanovska, Aneta, E-mail:


    Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale—from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems—their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous

  11. Autonomic Regulation of Splanchnic Circulation

    Directory of Open Access Journals (Sweden)

    Kathleen A Fraser


    Full Text Available The role of the autonomic nervous system in circulatory regulation of the splanchnic organs (stomach, small intestine, colon, liver, pancreas and spleen is reviewed. In general, the sympathetic nervous system is primarily involved in vasoconstriction, while the parasympathetic contributes to vasodilation. Vasoconstriction in the splanchnic circulation appears to be mediated by alpha-2 receptors and vasodilation by activation of primary afferent nerves with subsequent release of vasodilatory peptides, or by stimulation of beta-adrenergic receptors. As well, an important function of the autonomic nervous system is to provide a mechanism by which splanchnic vascular reserve can be mobilized during stress to maintain overall cardiovascular homeostasis.

  12. Discerning non-autonomous dynamics (United States)

    Clemson, Philip T.; Stefanovska, Aneta


    Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale-from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems-their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous the

  13. The Spider and the Fly (United States)

    Mellinger, Keith E.; Viglione, Raymond


    The Spider and the Fly puzzle, originally attributed to the great puzzler Henry Ernest Dudeney, and now over 100 years old, asks for the shortest path between two points on a particular square prism. We explore a generalization, find that the original solution only holds in certain cases, and suggest how this discovery might be used in the…

  14. Autonomic dysfunction in cirrhosis and portal hypertension

    DEFF Research Database (Denmark)

    Dümcke, Christine Winkler; Møller, Søren


    Liver cirrhosis and portal hypertension are frequently associated with signs of circulatory dysfunction and peripheral polyneuropathy, which includes defects of the autonomic nervous system. Autonomic dysfunction, which is seen in both alcoholic and non-alcoholic liver cirrhosis and increases...

  15. Aerodynamics of the Smallest Flying Insects

    CERN Document Server

    Miller, Laura A; Hedrick, Ty; Robinson, Alice; Santhanakrishnan, Arvind; Lowe, Audrey


    We present fluid dynamics videos of the flight of some of the smallest insects including the jewel wasp, \\textit{Ampulex compressa}, and thrips, \\textit{Thysanoptera} spp. The fruit fly, \\textit{Drosophila melanogaster}, is large in comparison to these insects. While the fruit fly flies at $Re \\approx 120$, the jewel wasp flies at $Re \\approx 60$, and thrips flies at $Re \\approx 10$. Differences in the general structures of the wakes generated by each species are observed. The differences in the wakes correspond to changes in the ratio of lift forces (vertical component) to drag forces (horizontal component) generated.

  16. FlyAR: augmented reality supported micro aerial vehicle navigation. (United States)

    Zollmann, Stefanie; Hoppe, Christof; Langlotz, Tobias; Reitmayr, Gerhard


    Micro aerial vehicles equipped with high-resolution cameras can be used to create aerial reconstructions of an area of interest. In that context automatic flight path planning and autonomous flying is often applied but so far cannot fully replace the human in the loop, supervising the flight on-site to assure that there are no collisions with obstacles. Unfortunately, this workflow yields several issues, such as the need to mentally transfer the aerial vehicle’s position between 2D map positions and the physical environment, and the complicated depth perception of objects flying in the distance. Augmented Reality can address these issues by bringing the flight planning process on-site and visualizing the spatial relationship between the planned or current positions of the vehicle and the physical environment. In this paper, we present Augmented Reality supported navigation and flight planning of micro aerial vehicles by augmenting the user’s view with relevant information for flight planning and live feedback for flight supervision. Furthermore, we introduce additional depth hints supporting the user in understanding the spatial relationship of virtual waypoints in the physical world and investigate the effect of these visualization techniques on the spatial understanding.

  17. Autonomous Duffing-Holmes Type Chaotic Oscillator

    DEFF Research Database (Denmark)

    Tamaševičius, A.; Bumelienė, S.; Kirvaitis, R.


    We have designed and built a novel Duffing type autonomous 3rd-order chaotic oscillator. In comparison with the common non-autonomous DuffingHolmes type oscillator the autonomous circuit has an internal positive feedback loop instead of an external periodic drive source. In addition...

  18. CAAD: Computer Architecture for Autonomous Driving


    Liu, Shaoshan; Tang, Jie; Zhang, Zhe; Gaudiot, Jean-Luc


    We describe the computing tasks involved in autonomous driving, examine existing autonomous driving computing platform implementations. To enable autonomous driving, the computing stack needs to simultaneously provide high performance, low power consumption, and low thermal dissipation, at low cost. We discuss possible approaches to design computing platforms that will meet these needs.

  19. Objects as Temporary Autonomous Zones

    Directory of Open Access Journals (Sweden)

    Tim Morton


    Full Text Available From Hakim Bey's instructions on creating temporary autonomous zones we see an oscillation "between performance art and politics, circus clowning and revolution." In this essay Tim Morton discusses anarchist politics as, "the creation of fresh objects in a reality without a top or a bottom object, or for that matter a middle object."

  20. Objects as Temporary Autonomous Zones


    Tim Morton


    From Hakim Bey's instructions on creating temporary autonomous zones we see an oscillation "between performance art and politics, circus clowning and revolution." In this essay Tim Morton discusses anarchist politics as, "the creation of fresh objects in a reality without a top or a bottom object, or for that matter a middle object."

  1. Hazard Map for Autonomous Navigation

    DEFF Research Database (Denmark)

    Riis, Troels

    This dissertation describes the work performed in the area of using image analysis in the process of landing a spacecraft autonomously and safely on the surface of the Moon. This is suggested to be done using a Hazard Map. The correspondence problem between several Hazard Maps are investigated fu...

  2. Autonomous vertical profiler data management

    Digital Repository Service at National Institute of Oceanography (India)

    Afzulpurkar, S.; Navelkar, G.S.; Desa, E.S.; Madhan, R.; Dabholkar, N; Prabhudesai, S.P.; Mascarenhas, A.A

    The Autonomous Vertical Profiler (AVP), developed at NIO [1] [2], collects position and water column data over a period of 3 days and transmits through a satellite modem which is collated and stored on a PC. Data includes GPS positions, water column...

  3. Designing Assessment for Autonomous Learning (United States)

    Hay, Marie; Mathers, Lucy


    This paper aims to disseminate and evaluate an autonomous learning framework developed through collaborative research with first- and second-year undergraduate students at De Montfort University. Central to the framework is the involvement of students in the assessment of their peers and themselves using dialogue about the assessment and feedback…

  4. Computing architecture for autonomous microgrids (United States)

    Goldsmith, Steven Y.


    A computing architecture that facilitates autonomously controlling operations of a microgrid is described herein. A microgrid network includes numerous computing devices that execute intelligent agents, each of which is assigned to a particular entity (load, source, storage device, or switch) in the microgrid. The intelligent agents can execute in accordance with predefined protocols to collectively perform computations that facilitate uninterrupted control of the .

  5. Autonomic dysreflexia: a medical emergency (United States)

    Bycroft, J; Shergill, I; Choong, E; Arya, N; Shah, P


    Autonomic dysreflexia is an important clinical diagnosis that requires prompt treatment to avoid devastating complications. The condition may present itself to all members of medical and surgical specialties, who may not be accustomed to treating it. It is the clinician's responsibility to have a basic understanding of the pathophysiology of the condition and the simple steps required to treat it. PMID:15811886

  6. A fully-autonomous hovercraft inspired by bees: wall following and speed control in straight and tapered corridors


    Roubieu, Frédéric L.; Serres, Julien; Franceschini, Nicolas; Ruffier, Franck; Viollet, Stéphane


    International audience; The small autonomous vehicles of the future will have to navigate close to obstacles in highly unpredictable environments. Risky tasks of this kind may require novel sensors and control methods that differ from conventional approaches. Recent ethological findings have shown that complex navigation tasks such as obstacle avoidance and speed control are performed by flying insects on the basis of optic flow (OF) cues, although insects' compound eyes have a very poor spat...

  7. Binocular interactions underlying the classic optomotor responses of flying flies

    Directory of Open Access Journals (Sweden)

    Brian J Duistermars


    Full Text Available In response to imposed course deviations, the fast optomotor reactions of animals reduce motion blur and facilitate the maintenance of stable body posture. In flies, the monocular front-to-back (progressive and back-to-front (regressive visual motion components generated by horizontal rotation are selectively encoded, respectively, by homo and heterolateral motion sensitive circuits in the third optic ganglion, the lobula plate. To investigate the strength of such inter-ocular interactions and their role in compensatory sensory-motor transformations, we utilize a virtual reality flight simulator to record optomotor reactions by tethered flying flies in response to imposed binocular and monocular visual rotation. With stimulus parameters generating large contrast insensitive optomotor responses to binocular rotation, we find that responses to monocular progressive motion are larger than those to panoramic rotation but contrast sensitive. Conversely, responses to monocular regressive motion are slower than those to rotation and peak at the lowest tested contrast. Together our results suggest that contrast insensitive optomotor responses to binocular rotation result from the dynamic interplay of contralateral inhibitory as well as excitatory circuit interactions and serve to maintain a stable optomotor equilibrium across a range of visual contrasts.

  8. Autonomic computing enabled cooperative networked design

    CERN Document Server

    Wodczak, Michal


    This book introduces the concept of autonomic computing driven cooperative networked system design from an architectural perspective. As such it leverages and capitalises on the relevant advancements in both the realms of autonomic computing and networking by welding them closely together. In particular, a multi-faceted Autonomic Cooperative System Architectural Model is defined which incorporates the notion of Autonomic Cooperative Behaviour being orchestrated by the Autonomic Cooperative Networking Protocol of a cross-layer nature. The overall proposed solution not only advocates for the inc

  9. SAMURAI: Polar AUV-Based Autonomous Dexterous Sampling (United States)

    Akin, D. L.; Roberts, B. J.; Smith, W.; Roderick, S.; Reves-Sohn, R.; Singh, H.


    SAMURAI control system, and JAGUAR (with SAMURAI mounted to the lower forward hull) will return to the designated target areas. Once on site, vehicle control will be turned over to the SAMURAI controller, which will perform vision-based guidance to the sampling site and will then ground the AUV to the sea bottom for stability. The SAMURAI manipulator will collect samples, such as sessile biologicals, geological samples, and (potentially) vent fluids, and store the samples for the return trip. After several hours of sampling operations on one or several sites, JAGUAR control will be returned to the WHOI onboard controller for the return to the support ship. (Operational details of AUV operations on the Gakkel Ridge mission are presented in other papers at this conference.) Between sorties, SAMURAI end effectors can be changed out on the surface for specific targets, such as push cores or larger biologicals such as tube worms. In addition to the obvious challenges in autonomous vision-based manipulator control from a free-flying support vehicle, significant development challenges have been the design of a highly capable robotic arm within the mass limitations (both wet and dry) of the JAGUAR vehicle, the development of a highly robust manipulator with modular maintenance units for extended polar operations, and the creation of a robot-based sample collection and holding system for multiple heterogeneous samples on a single extended sortie.

  10. "Fly me to the moon"

    Institute of Scientific and Technical Information of China (English)


    @@ China's first lunar probe Chang'e-I, named after a mythical Chinese goddess who, according to legend, made her home on the moon, blasted off on 24 October from the Xichang Satellite Launch Center in the southwestern province of Sichuan. In addition to making the dream cherished by Chinese people to fly to the moon come true, it is the first step into China's ambitious threestage moon mission, marking a new milestone in the country's space exploration history.

  11. Electrodialytic treatment of fly ash

    DEFF Research Database (Denmark)

    Jensen, Pernille Erland; Pedersen, Anne Juul; Kirkelund, Gunvor Marie;

    Heavy metals are removed from the fly ashes by an electrodialytic treatment with the aim of up-grading the ashes for reuse in stead of disposal in landfill.A great potential for upgrading of bio- and waste incineration ashes by electrodialytic treatment exists. In the future, the applicability...... of the treated products for reuse in construction or farming sectors should be explored further, as should the possibility of recycling of valuable, extracted elements in the metallurgical industry....

  12. Notes on flying and dying. (United States)

    Meyer, B C


    Focused on selected details in the lives and creative works of Samuel Johnson, Edgar Allan Poe, and Houdini, this paper explores a seeming antinomy between claustrophobic annihilation and aviation. At first glance the latter appears as an antidote to the threat of entrapment and death. On a deeper level the distinction fades as the impression arises that in the examples cited, flying may represent an unconscious expression of a wish for death and ultimate reunion.

  13. Experiences in Benchmarking of Autonomic Systems (United States)

    Etchevers, Xavier; Coupaye, Thierry; Vachet, Guy

    Autonomic computing promises improvements of systems quality of service in terms of availability, reliability, performance, security, etc. However, little research and experimental results have so far demonstrated this assertion, nor provided proof of the return on investment stemming from the efforts that introducing autonomic features requires. Existing works in the area of benchmarking of autonomic systems can be characterized by their qualitative and fragmented approaches. Still a crucial need is to provide generic (i.e. independent from business, technology, architecture and implementation choices) autonomic computing benchmarking tools for evaluating and/or comparing autonomic systems from a technical and, ultimately, an economical point of view. This article introduces a methodology and a process for defining and evaluating factors, criteria and metrics in order to qualitatively and quantitatively assess autonomic features in computing systems. It also discusses associated experimental results on three different autonomic systems.

  14. Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy

    Directory of Open Access Journals (Sweden)

    Heung Yong Jin


    Full Text Available Diabetic neuropathy is one of the major complications of diabetes, and it increases morbidity and mortality in patients with both type 1 diabetes mellitus (T1DM and type 2 diabetes mellitus (T2DM. Because the autonomic nervous system, for example, parasympathetic axons, has a diffuse and wide distribution, we do not know the morphological changes that occur in autonomic neural control and their exact mechanisms in diabetic patients with diabetic autonomic neuropathy (DAN. Although the prevalence of sympathetic and parasympathetic neuropathy is similar in T1DM versus T2DM patients, sympathetic nerve function correlates with parasympathetic neuropathy only in T1DM patients. The explanation for these discrepancies might be that parasympathetic nerve function was more severely affected among T2DM patients. As parasympathetic nerve damage seems to be more advanced than sympathetic nerve damage, it might be that parasympathetic neuropathy precedes sympathetic neuropathy in T2DM, which was Ewing's concept. This could be explained by the intrinsic morphologic difference. Therefore, the morphological changes in the sympathetic and parasympathetic nerves of involved organs in T1DM and T2DM patients who have DAN should be evaluated. In this review, evaluation methods for morphological changes in the epidermal nerves of skin, and the intrinsic nerves of the stomach will be discussed.

  15. Identifying glass compositions in fly ash

    Directory of Open Access Journals (Sweden)

    Katherine eAughenbaugh


    Full Text Available In this study, four Class F fly ashes were studied with a scanning electron microscope; the glassy phases were identified and their compositions quantified using point compositional analysis with k-means clustering and multispectral image analysis. The results showed that while the bulk oxide contents of the fly ashes were different, the four fly ashes had somewhat similar glassy phase compositions. Aluminosilicate glasses (AS, calcium aluminosilicate glasses (CAS, a mixed glass, and, in one case, a high iron glass were identified in the fly ashes. Quartz and iron crystalline phases were identified in each fly ash as well. The compositions of the three main glasses identified, AS, CAS, and mixed glass, were relatively similar in each ash. The amounts of each glass were varied by fly ash, with the highest calcium fly ash containing the most of calcium-containing glass. Some of the glasses were identified as intermixed in individual particles, particularly the calcium-containing glasses. Finally, the smallest particles in the fly ashes, with the most surface area available to react in alkaline solution, such as when mixed with portland cement or in alkali-activated fly ash, were not different in composition than the large particles, with each of the glasses represented. The method used in the study may be applied to a fly ash of interest for use as a cementing material in order to understand its potential for reactivity.

  16. Cardiac autonomic nerve distribution and arrhythmia

    Institute of Scientific and Technical Information of China (English)

    Quan Liu; Dongmei Chen; Yonggang Wang; Xin Zhao; Yang Zheng


    OBJECTIVE: To analyze the distribution characteristics of cardiac autonomic nerves and to explore the correlation between cardiac autonomic nerve distribution and arrhythmia.DATA RETRIEVAL: A computer-based retrieval was performed for papers examining the distribution of cardiac autonomic nerves, using "heart, autonomic nerve, sympathetic nerve, vagus nerve, nerve distribution, rhythm and atrial fibrillation" as the key words.SELECTION CRITERIA: A total of 165 studies examining the distribution of cardiac autonomic nerve were screened, and 46 of them were eventually included.MAIN OUTCOME MEASURES: The distribution and characteristics of cardiac autonomic nerves were observed, and immunohistochemical staining was applied to determine the levels of tyrosine hydroxylase and acetylcholine transferase (main markers of cardiac autonomic nerve distribution). In addition, the correlation between cardiac autonomic nerve distribution and cardiac arrhythmia was investigated.RESULTS: Cardiac autonomic nerves were reported to exhibit a disordered distribution in different sites, mainly at the surface of the cardiac atrium and pulmonary vein, forming a ganglia plexus. The distribution of the pulmonary vein autonomic nerve was prominent at the proximal end rather than the distal end, at the upper left rather than the lower right, at the epicardial membrane rather than the endocardial membrane, at the left atrium rather than the right atrium, and at the posterior wall rather than the anterior wall. The main markers used for cardiac autonomic nerves were tyrosine hydroxylase and acetylcholine transferase. Protein gene product 9.5 was used to label the immunoreactive nerve distribution, and the distribution density of autonomic nerves was determined using a computer-aided morphometric analysis system.CONCLUSION: The uneven distribution of the cardiac autonomic nerves is the leading cause of the occurrence of arrhythmia, and the cardiac autonomic nerves play an important role in the

  17. Solidification/Stabilization of Fly Ash from a Municipal Solid Waste Incineration Facility Using Portland Cement

    Directory of Open Access Journals (Sweden)

    Qiang Tang


    Full Text Available This study investigated the solidification/stabilization of fly ash containing heavy metals using the Portland cement as a binder. It is found that both the cement/fly ash ratio and curing time have significant effects on the mechanical (i.e., compressive strength and leaching behaviors of the stabilized fly ash mixtures. When the cement/fly ash ratio increases from 4 : 6 to 8 : 2, the increase of compressive strength ratio raises from 42.24% to 80.36%; meanwhile, the leaching amount of heavy metals decreases by 2.33% to 85.23%. When the curing time increases from 3 days to 56 days, the compressive strength ratio of mixtures raises from 240.00% to 414.29%; meanwhile, the leaching amount of heavy metals decreases by 16.49% to 88.70%. The decrease of compressive strength with the lower cement/fly ash ratios and less curing time can be attributed to the increase of fly ash loading, which hinders the formation of ettringite and destroys the structure of hydration products, thereby resulting in the pozzolanic reaction and fixation of water molecules. Furthermore, the presence of cement causes the decrease of leaching, which results from the formation of ettringite and the restriction of heavy metal ion migration in many forms, such as C-S-H gel and adsorption.

  18. Chaotic neurodynamics for autonomous agents. (United States)

    Harter, Derek; Kozma, Robert


    Mesoscopic level neurodynamics study the collective dynamical behavior of neural populations. Such models are becoming increasingly important in understanding large-scale brain processes. Brains exhibit aperiodic oscillations with a much more rich dynamical behavior than fixed-point and limit-cycle approximation allow. Here we present a discretized model inspired by Freeman's K-set mesoscopic level population model. We show that this version is capable of replicating the important principles of aperiodic/chaotic neurodynamics while being fast enough for use in real-time autonomous agent applications. This simplification of the K model provides many advantages not only in terms of efficiency but in simplicity and its ability to be analyzed in terms of its dynamical properties. We study the discrete version using a multilayer, highly recurrent model of the neural architecture of perceptual brain areas. We use this architecture to develop example action selection mechanisms in an autonomous agent.

  19. Cardiovascular autonomic neuropathy in diabetes

    DEFF Research Database (Denmark)

    Spallone, Vincenza; Ziegler, Dan; Freeman, Roy


    in type 2 diabetes. CAN is a risk marker of mortality and cardiovascular morbidity, and possibly a progression promoter of diabetic nephropathy. Criteria for CAN diagnosis and staging are: 1. one abnormal cardio-vagal test identifies possible or early CAN; 2. at least two abnormal cardio-vagal tests....... diagnosis of CAN clinical forms, 2. detection and tailored treatment of CAN clinical correlates (e.g. tachycardia, OH, nondipping, QT interval prolongation), 3. risk stratification for diabetic complications and cardiovascular morbidity and mortality, and 4. modulation of targets of diabetes therapy......Cardiovascular Autonomic Neuropathy (CAN) Subcommittee of Toronto Consensus Panel on Diabetic Neuropathy worked to update CAN guidelines, with regard to epidemiology, clinical impact, diagnosis, usefulness of CAN testing, and management. CAN is the impairment of cardiovascular autonomic control...

  20. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Nielsen, Oluf Skov


    Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper...... investigates the missing links and gaps between the research and developments efforts and the real-world application requirements, in order to bring the AIMM technology from laboratories to manufacturing environments. The investigation is based on 12 general application requirements for robotics......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry...

  1. Biology-Inspired Autonomous Control (United States)


    of, and perhaps will not be tolerated in, manmade critical systems. Although this paper does not directly address questions of ethics associated...political, ethical , and moral issues associated with the use of autonomous systems in warfare will be debated long after the technology hurdles to...accessible discussion on the interplay of biochemistry, genetics and embryology in animal evolution; Wagner, 2005 describes biological concepts of

  2. Autonomous spacecraft rendezvous and docking (United States)

    Tietz, J. C.; Almand, B. J.

    A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

  3. [Autonomic nervous system in diabetes]. (United States)

    Emdin, M


    Hyperglycemia and hyperinsulinemia have a primary role in determining the early functional and later anatomic changes at the level of the autonomic pathways controlling the circulation, and besides in directly influencing cardiac and vascular cellular targets and feed-back baroreceptor system sensitivity to neurohumoral modulation in patients with diabetes mellitus. The basic mechanisms of dysfunction and damage, and the clinical and prognostic value of diabetic cardiovascular dysautonomia are discussed together with the diagnostic apparatus and the possible therapeutic approaches.

  4. Autonomic neuropathy in diabetes mellitus

    Directory of Open Access Journals (Sweden)

    Alberto eVerrotti


    Full Text Available Diabetic autonomic neuropathy (DAN is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy (CAN defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent definition, different diagnostic method, different patient cohorts studied. The pathogenesis is still unclear and probably multifactorial. Once DAN becomes clinically evident, no form of therapy has been identified which can effectively stop or reverse it. Prevention strategies are based on strict glycemic control with intensive insulin treatment, multifactorial intervention and lifestyle modification including control of hypertension, dyslipidemia, stop smoking, weight loss and adequate physical exercise. The present review summarizes the latest knowledge regarding clinical presentation, epidemiology, pathogenesis and management of DAN, with some mention to childhood and adolescent population.

  5. Semi autonomous mine detection system

    Energy Technology Data Exchange (ETDEWEB)

    Douglas Few; Roelof Versteeg; Herman Herman


    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.

  6. Semi autonomous mine detection system (United States)

    Few, Doug; Versteeg, Roelof; Herman, Herman


    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude - from an autonomous robotic perspective - the rapid development and deployment of fieldable systems.

  7. Ultrasonic vocalizations emitted by flying squirrels.

    Directory of Open Access Journals (Sweden)

    Meghan N Murrant

    Full Text Available Anecdotal reports of ultrasound use by flying squirrels have existed for decades, yet there has been little detailed analysis of their vocalizations. Here we demonstrate that two species of flying squirrel emit ultrasonic vocalizations. We recorded vocalizations from northern (Glaucomys sabrinus and southern (G. volans flying squirrels calling in both the laboratory and at a field site in central Ontario, Canada. We demonstrate that flying squirrels produce ultrasonic emissions through recorded bursts of broadband noise and time-frequency structured frequency modulated (FM vocalizations, some of which were purely ultrasonic. Squirrels emitted three types of ultrasonic calls in laboratory recordings and one type in the field. The variety of signals that were recorded suggest that flying squirrels may use ultrasonic vocalizations to transfer information. Thus, vocalizations may be an important, although still poorly understood, aspect of flying squirrel social biology.

  8. Mathematical model of unmanned aerial vehicle used for endurance autonomous monitoring

    Energy Technology Data Exchange (ETDEWEB)

    Chelaru, Teodor-Viorel, E-mail: [University POLITEHNICA of Bucharest - Research Center for Aeronautics and Space, Str. Gheorghe Polizu, no. 1, PC 011061, Sector 1, Bucharest (Romania); Chelaru, Adrian, E-mail: [INCAS -National Institute for Aerospace Research Elie Carafoli, B-dul Iuliu Maniu 220, 061126, Sector 6, Bucharest (Romania)


    The paper purpose is to present some aspects regarding the control system of unmanned aerial vehicle - UAV, used to local observations, surveillance and monitoring interest area. The calculus methodology allows a numerical simulation of UAV evolution in bad atmospheric conditions by using nonlinear model, as well as a linear one for obtaining guidance command. The UAV model which will be presented has six DOF (degrees of freedom), and autonomous control system. This theoretical development allows us to build stability matrix, command matrix and control matrix and finally to analyse the stability of autonomous UAV flight. A robust guidance system, based on uncoupled state will be evaluated for different fly conditions and the results will be presented. The flight parameters and guidance will be analysed.

  9. Using Model-Based Reasoning for Autonomous Instrument Operation - Lessons Learned From IMAGE/LENA (United States)

    Johnson, Michael A.; Rilee, Michael L.; Truszkowski, Walt; Bailin, Sidney C.


    Model-based reasoning has been applied as an autonomous control strategy on the Low Energy Neutral Atom (LENA) instrument currently flying on board the Imager for Magnetosphere-to-Aurora Global Exploration (IMAGE) spacecraft. Explicit models of instrument subsystem responses have been constructed and are used to dynamically adapt the instrument to the spacecraft's environment. These functions are cast as part of a Virtual Principal Investigator (VPI) that autonomously monitors and controls the instrument. In the VPI's current implementation, LENA's command uplink volume has been decreased significantly from its previous volume; typically, no uplinks are required for operations. This work demonstrates that a model-based approach can be used to enhance science instrument effectiveness. The components of LENA are common in space science instrumentation, and lessons learned by modeling this system may be applied to other instruments. Future work involves the extension of these methods to cover more aspects of LENA operation and the generalization to other space science instrumentation.

  10. Amnioserosa cell constriction but not epidermal actin cable tension autonomously drives dorsal closure. (United States)

    Pasakarnis, Laurynas; Frei, Erich; Caussinus, Emmanuel; Affolter, Markus; Brunner, Damian


    Tissue morphogenesis requires coordination of multiple force-producing components. During dorsal closure in fly embryogenesis, an epidermis opening closes. A tensioned epidermal actin/MyosinII cable, which surrounds the opening, produces a force that is thought to combine with another MyosinII force mediating apical constriction of the amnioserosa cells that fill the opening. A model proposing that each force could autonomously drive dorsal closure was recently challenged by a model in which the two forces combine in a ratchet mechanism. Acute force elimination via selective MyosinII depletion in one or the other tissue shows that the amnioserosa tissue autonomously drives dorsal closure while the actin/MyosinII cable cannot. These findings exclude both previous models, although a contribution of the ratchet mechanism at dorsal closure onset remains likely. This shifts the current view of dorsal closure being a combinatorial force-component system to a single tissue-driven closure event.

  11. Revised irradiation doses to control melon fly, Mediterranean fruit fly, and oriental fruit fly (Diptera: Tephritidae) and a generic dose for tephritid fruit flies. (United States)

    Follett, Peter A; Armstrong, John W


    Currently approved irradiation quarantine treatment doses for Bactrocera cucurbitae (Coquillet), melon fly; Ceratitis capitata (Wiedemann), Mediterranean fruit fly; and Bactrocera dorsalis (Hendel), oriental fruit fly, infesting fruits and vegetables for export from Hawaii to the continental United States are 210, 225, and 250 Gy, respectively. Irradiation studies were initiated to determine whether these doses could be reduced to lower treatment costs, minimize any adverse effects on quality, and support a proposed generic irradiation dose of 150 Gy for fruit flies. Dose-response tests were conducted with late third instars of wild and laboratory strains of the three fruit fly species, both in diet and in fruit. After x-ray irradiation treatment, data were taken on adult emergence, and adult female fecundity and fertility. Melon fly was the most tolerant of the three species to irradiation, and oriental fruit fly was more tolerant than Mediterranean fruit fly. Laboratory and wild strains of each species were equally tolerant of irradiation, and larvae were more tolerant when irradiated in fruit compared with artificial diet. An irradiation dose of 150 Gy applied to 93,666 melon fly late third instars in papayas resulted in no survival to the adult stage, indicating that this dose is sufficient to provide quarantine security. Irradiation doses of 100 and 125 Gy applied to 31,920 Mediterranean fruit fly and 55,743 oriental fruit fly late third instars, respectively, also resulted in no survival to the adult stage. Results support a proposed generic irradiation quarantine treatment dose of 150 Gy for all tephritid fruit flies.

  12. Assessment and Development of Oculomotor Flying Skills by the Application of the Channel Theory of Vision. (United States)


    20. * $TRACT (Continue on reverse aide II necessary and Identify by block number) Pilots’ landing and formation flight performance on the ASPT ...Advanced Simulator for Pilot Training ( ASPT ) This work was carried out at Williams AFB in two visits. It was a joint effort by Mr. R. Kruk (who...subject tested. The simulator tests chosen were low-visibility landing ( ASPT simulator) and formation flying (formation simulator). Unfortunately, the

  13. Flying qualities criteria and flight control design (United States)

    Berry, D. T.


    Despite the application of sophisticated design methodology, newly introduced aircraft continue to suffer from basic flying qualities deficiencies. Two recent meetings, the DOD/NASA Workshop on Highly Augmented Aircraft Criteria and the NASA Dryden Flight Research Center/Air Force Flight Test Center/AIAA Pilot Induced Oscillation Workshop, addressed this problem. An overview of these meetings is provided from the point of view of the relationship between flying qualities criteria and flight control system design. Among the items discussed are flying qualities criteria development, the role of simulation, and communication between flying qualities specialists and control system designers.

  14. Characteristics of spanish fly ashes

    Directory of Open Access Journals (Sweden)

    de Luxán, M. P.


    Full Text Available The purpose of this study is the characterization of fly ashes produced by Spanish thermoelectric power plants, according to sampling taken in 1981 and 1982. The study takes in the following characteristics: physical characteristics (size distribution of particles, ...; chemical ones (chemical analysis...; and mineralogical ones (application of instrumental techniques of X-ray diffraction and infrared absorption spectroscopy. From a general point of view, it can be said that the samples of Spanish fly ashes are similar to those produced in other countries. The results obtained are a contribution to the knowledge of Spanish fly ashes and form part of the antecedents of investigations carried out in subsequent years.

    Este trabajo tiene por objeto la caracterización de las cenizas volantes producidas en las Centrales Termoeléctricas españolas, según un muestreo realizado entre 1981 y 1982. El estudio comprende las siguientes características: físicas (distribución del tamaño de partículas,...; químicas (análisis químico, …; y mineralógicas (aplicación de las técnicas instrumentales de difracción de rayos X y espectroscopía de absorción infrarroja. Desde un punto de vista general, se puede afirmar que las muestras de ceniza volante estudiadas son semejantes a las producidas en otros países. Los resultados obtenidos son una aportación al conocimiento de las cenizas volantes españolas y forman parte de los antecedentes de las investigaciones llevadas a cabo en años posteriores.

  15. Silica-alumina molar ratio and some factors effect on the synthesis of zeolites from fly ash

    Institute of Scientific and Technical Information of China (English)

    SUN Yue-zhi; FU Ke-ming; ZHU Hong; ZHU Tian-lin


    In order to improve the activity and eliminate some impurities, pretreatment was used before hydrothermal synthesis. The fly ash was mixed with an aqueous NaOH solution, the alkali melted fly ash was also adopted, which is hydrothermally treated at about 104 ℃, and the liquid/solid ratio was controlled at 6:1. In order to control Si/AI molar ratio, SiO2 or Al2O3 powers were added to the fly ash. The results of XRD and SEM show that the alkali melted can activate fly ash and eliminate its quartz and mullite, along with the improvement of Si/AI molar ratio and alkalinity. In addition, zeolite Na-A changes into sodalite gradually, and nepheline is the synthesized intermediate product. Those results were discussed on the basis of a formation mechanism of zeolite from fly ash.

  16. Attainability of Carnot efficiency with autonomous engines (United States)

    Shiraishi, Naoto


    The maximum efficiency of autonomous engines with a finite chemical potential difference is investigated. We show that, without a particular type of singularity, autonomous engines cannot attain the Carnot efficiency. This singularity is realized in two ways: single particle transports and the thermodynamic limit. We demonstrate that both of these ways actually lead to the Carnot efficiency in concrete setups. Our results clearly illustrate that the singularity plays a crucial role in the maximum efficiency of autonomous engines.

  17. Navigation and Control of an Autonomous Vehicle


    Schworer, Ian Josef


    The navigation and control of an autonomous vehicle is a highly complex task. Making a vehicle intelligent and able to operate â unmannedâ requires extensive theoretical as well as practical knowledge. An autonomous vehicle must be able to make decisions and respond to situations completely on its own. Navigation and control serves as the major limitation of the overall performance, accuracy and robustness of an autonomous vehicle. This thesis will address this problem and propose a uni...

  18. Attainability of Carnot efficiency with autonomous engines. (United States)

    Shiraishi, Naoto


    The maximum efficiency of autonomous engines with a finite chemical potential difference is investigated. We show that, without a particular type of singularity, autonomous engines cannot attain the Carnot efficiency. This singularity is realized in two ways: single particle transports and the thermodynamic limit. We demonstrate that both of these ways actually lead to the Carnot efficiency in concrete setups. Our results clearly illustrate that the singularity plays a crucial role in the maximum efficiency of autonomous engines.

  19. Test and Evaluation of Autonomous Ground Vehicles


    Yang Sun; Guangming Xiong; Weilong Song; Jianwei Gong; Huiyan Chen


    A preestablished test and evaluation system will benefit the development of autonomous ground vehicles. This paper proposes a design method for a scientific and comprehensive test and evaluation system for autonomous ground vehicles competitions. It can better guide and regulate the development of China’s autonomous ground vehicles. The test and evaluation system includes the test contents, the test environment, the test methods, and the evaluation methods. Using a hierarchical design approac...

  20. Design of a Miniature Autonomous Surveillance Robot

    Institute of Scientific and Technical Information of China (English)

    ZHENG Chang-e; HUANG Qiang; HUANG Yuan-can


    The small size of miniature robots poses great challenges for the mechanical and deetrieal design and the implementation of autonomous capabilities.In this paper,the mechanical and electrical design for a twowheeled cylindrical miniature autonomous robot ("BMS-1",BIT MicroScout-1) is presented and some autonomous capabilities are implemented by multiple sensors and some arithmetic models.Several experimental results show that BMS-1 is useful for surveillance in confined spaces and suitable for large-scale surveillance due to some autonomous capabilities.

  1. Public Health, Ethics, and Autonomous Vehicles. (United States)

    Fleetwood, Janet


    With the potential to save nearly 30 000 lives per year in the United States, autonomous vehicles portend the most significant advance in auto safety history by shifting the focus from minimization of postcrash injury to collision prevention. I have delineated the important public health implications of autonomous vehicles and provided a brief analysis of a critically important ethical issue inherent in autonomous vehicle design. The broad expertise, ethical principles, and values of public health should be brought to bear on a wide range of issues pertaining to autonomous vehicles.

  2. Autonomic symptoms in idiopathic REM behavior disorder

    DEFF Research Database (Denmark)

    Ferini-Strambi, Luigi; Oertel, Wolfgang; Dauvilliers, Yves


    , and sexual dysfunction. Our results show that compared to control subjects with a similar overall age and sex distribution, patients with iRBD experience significantly more problems with gastrointestinal, urinary, and cardiovascular functioning. The most prominent differences in severity of autonomic......Patients with idiopathic REM sleep behavior disorder (iRBD) are at very high risk of developing neurodegenerative synucleinopathies, which are disorders with prominent autonomic dysfunction. Several studies have documented autonomic dysfunction in iRBD, but large-scale assessment of autonomic...

  3. Bio-Inspired Intelligent Sensing Materials for Fly-by-Feel Autonomous Vehicle (United States)


    Method of Approach Ni nanoparticles • Magnetoelectric composite induces strain in Ni nanoparticles • E=0 produces superparamagnetic behavior • E...AFOSR-MURI Bio-inspired Sensory Network current strain Change in resistance and gauge factor K under uniaxial tensile strain . Measured...Effects Ambient temperature, humidity . moisture….. State field distribution -Temperature -Pressure - Air-flow - Strain - Structural damage

  4. SLAM for drones : simultaneous localization and mapping for autonomous flying robots


    González de Rueda Ramos, José Manuel


    The main objective of this thesis is to be a reference in SLAM for future work in robotics. It goes from almost a zero-point for a non-expert in the field until a revision of the SoA methods. It has been carefully divided into four parts: - The first one is a compilation of the basis in computer vision. If you are new into the field, it is recommended to read it carefully to really understand the most important concepts that will be applied in further sections. - The second part will be a ful...

  5. Common Aero Vehicle Autonomous Reentry Trajectory Optimization Satisfying Waypoint and No-Fly Zone Constraints (United States)


    Guidance, Control, and Dynamics, 21(2):193–207, March-April 1998. 7. Betts, John T. “A Direct Approach to Solving Optimal Control Problems ,” CSE in...Paul. “Jacobi Pseudospectral Method for Solving Optimal Control Problems ,” Journal of Guidance, Control, and Dynamics, 27(2):293–297, 2004. 117

  6. Autonomous Dome for Robotic Telescope

    CERN Document Server

    Kumar, Akash; Ganesh, Shashikiran


    Physical Research Laboratory operates a 50cm robotic observatory at Mount Abu. This Automated Telescope for Variability Studies (ATVS) makes use of Remote Telescope System 2 (RTS2) for autonomous operations. The observatory uses a 3.5m dome from Sirius Observatories. We have developed electronics using Arduino electronic circuit boards with home grown logic and software to control the dome operations. We are in the process of completing the drivers to link our Arduino based dome controller with RTS2. This document is a short description of the various phases of the development and their integration to achieve the required objective.

  7. The Autonomous Pathogen Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Dzenitis, J M; Makarewicz, A J


    We developed, tested, and now operate a civilian biological defense capability that continuously monitors the air for biological threat agents. The Autonomous Pathogen Detection System (APDS) collects, prepares, reads, analyzes, and reports results of multiplexed immunoassays and multiplexed PCR assays using Luminex{copyright} xMAP technology and flow cytometer. The mission we conduct is particularly demanding: continuous monitoring, multiple threat agents, high sensitivity, challenging environments, and ultimately extremely low false positive rates. Here, we introduce the mission requirements and metrics, show the system engineering and analysis framework, and describe the progress to date including early development and current status.

  8. Autonomous Real Time Requirements Tracing (United States)

    Plattsmier, George; Stetson, Howard


    One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto- Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner-TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the

  9. Topological entropy of autonomous flows

    Energy Technology Data Exchange (ETDEWEB)

    Badii, R. [Paul Scherrer Inst. (PSI), Villigen (Switzerland)


    When studying fluid dynamics, especially in a turbulent regime, it is crucial to estimate the number of active degrees of freedom or of localized structures in the system. The topological entropy quantifies the exponential growth of the number of `distinct` orbits in a dynamical system as a function of their length, in the infinite spatial resolution limit. Here, I illustrate a novel method for its evaluation, which extends beyond maps and is applicable to any system, including autonomous flows: these are characterized by lack of a definite absolute time scale for the orbit lengths. (author) 8 refs.

  10. Autonomous systems for plant protection

    DEFF Research Database (Denmark)

    Griepentrog, Hans W.; Ruckelshausen, Arno; Jørgensen, Rasmus Nyholm;


    Advances in automation are demanded by the market mainly as a response to high labor costs. Robotic outdoor systems are ready to allow not only economically viable operations but also increased efficiency in agriculture, horticulture and forestry. The aim of this chapter is to give examples...... of autonomous operations related to crop protection probably commercially available in the near future. Scouting and monitoring together with the efficient application of chemicals or mechanical treatments are operations which can be successful automated. Drawbacks are that current systems are lacking robust...

  11. Autonomous sensor manager agents (ASMA) (United States)

    Osadciw, Lisa A.


    Autonomous sensor manager agents are presented as an algorithm to perform sensor management within a multisensor fusion network. The design of the hybrid ant system/particle swarm agents is described in detail with some insight into their performance. Although the algorithm is designed for the general sensor management problem, a simulation example involving 2 radar systems is presented. Algorithmic parameters are determined by the size of the region covered by the sensor network, the number of sensors, and the number of parameters to be selected. With straight forward modifications, this algorithm can be adapted for most sensor management problems.

  12. Initial Satellite Formation Flight Results from the Magnetospheric Multiscale Mission (United States)

    Williams, Trevor; Ottenstein, Neil; Palmer, Eric; Farahmand, Mitra


    This paper will describe the results that have been obtained to date concerning MMS formation flying. The MMS spacecraft spin at a rate of 3.1 RPM, with spin axis roughly aligned with Ecliptic North. Several booms are used to deploy instruments: two 5 m magnetometer booms in the spin plane, two rigid booms of length 12.5 m along the positive and negative spin axes, and four flexible wire booms of length 60 m in the spin plane. Minimizing flexible motion of the wire booms requires that reorientation of the spacecraft spin axis be kept to a minimum: this is limited to attitude maneuvers to counteract the effects of gravity-gradient and apparent solar motion. Orbital maneuvers must therefore be carried out in essentially the nominal science attitude. These burns make use of a set of monopropellant hydrazine thrusters: two (of thrust 4.5 N) along the spin axis in each direction, and eight (of thrust 18 N) in the spin plane; the latter are pulsed at the spin rate to produce a net delta-v. An on-board accelerometer-based controller is used to accurately generate a commanded delta-v. Navigation makes use of a weak-signal GPS-based system: this allows signals to be received even when MMS is flying above the GPS orbits, producing a highly accurate determination of the four MMS orbits. This data is downlinked to the MMS Mission Operations Center (MOC) and used by the MOC Flight Dynamics Operations Area (FDOA) for maneuver design. These commands are then uplinked to the spacecraft and executed autonomously using the controller, with the ground monitoring the burns in real time.

  13. Low back pain and low level flying

    NARCIS (Netherlands)

    J.C.F.M. Aghina


    textabstractLow level flying is a very good tactical possibility to carry out a mission unseen by a hostile radarsystem. Nowadays, Western Europe in general and the Federal Republic of Germany in particular, decreased . the permissions to low level flying in assigned regions. That's why the Royal Ne

  14. Physicochemical characterization of Spanish fly ashes

    Energy Technology Data Exchange (ETDEWEB)

    Querol, X.; Umana, J.C.; Alastuey, A.; Bertrana, C.; Lopez-Soler, A.; Plana, F.


    This article summarizes the results obtained from the physical, chemical, and mineralogical characterization of 14 fly ash samples. Major features that influence the utilization of each fly ash for zeolite synthesis are evidenced, and several fly ash types were selected as potential high-quality starting material for zeolite synthesis and ceramic applications. The main parameters influencing this selection were relatively small grain size; high Al and Si contents; high glass content; low CaO, S, and Fe contents; and relatively low heavy metal concentration. The Compostilla and Cou He fly ashes have high potential applications because of the low content of major impurities (such as Ca, Fe, and S) and the low content of soluble hazardous elements. The Espiel, Escucha, Los Barrios, As Pontes, Soto de Ribera, Meirama, Narcea, and Teruel fly ashes have important application potential, but this potential is slightly limited by the intermediate content of nonreactive impurities, such as Fe and Ca. The La Robla fly ash is of moderate interest, since the relatively high Ca and Fe oxide contents may reduce its potential applications. Finally, the Puertollano fly ash also has limited application because of the very high concentration of some heavy metals such as As, Cd, Ge, Hg, Pb, and Zn. From a mineralogical point of view, the Compostilla, Espiel, and Soto de Ribera fly ashes show the highest aluminum-silicate glass content and, consequently, the highest industrial application potential.

  15. Physiochemical characterization of Spanish fly ashes

    Energy Technology Data Exchange (ETDEWEB)

    Querol, X.; Umana, J.C.; Alastuey, A.; Bertrana, C.; Lopez Soler, A.; Plana, F.


    This article summarizes the results obtained from the physical, chemical, and mineralogical characterization of 14 fly ash samples. Major features that influence the utilization of each fly ash for zeolite synthesis are evidenced, and several fly ash types were selected as potential high-quality starting material for zeolite synthesis and ceramic applications. The main parameters influencing this selection were relatively small grain size; high Al and Si contents; high glass content; low CaO, S, and Fe contents; and relatively low heavy metal concentration. The Compostilla and Dou He fly ashes have high potential applications because of the low content of major impurities (such as Ca, Fe, and S) and the low content of soluble hazardous elements. The Espiel, Escucha, Los Barrios, As Pontes, Soto de Ribera, Meirama, Narcea, and Teruel fly ashes have important application potential, but this potential is slightly limited by the intermediate content of nonreactive impurities, such as Fe and Ca. The La Robla fly ash is of moderate interest, since the relatively high Ca and Fe oxide contents may reduce its potential applications. Finally, the Puertollano fly ash also has limited application because of the very high concentration of some heavy metals such as As, Cd, Ge, Hg, Pb, and Zn. From a mineralogical point of view, the Compostilla, Espiel, and Soto de Ribera fly ashes show the highest aluminum-silicate glass content and, consequently, the highest industrial application potential. (author)

  16. Testing for Mutagens Using Fruit Flies. (United States)

    Liebl, Eric C.


    Describes a laboratory employed in undergraduate teaching that uses fruit flies to test student-selected compounds for their ability to cause mutations. Requires no prior experience with fruit flies, incorporates a student design component, and employs both rigorous controls and statistical analyses. (DDR)


    Directory of Open Access Journals (Sweden)

    V. A. Antanevich


    Full Text Available The paper considers a problem on synthesis of lateral movement control algorithms in a pilotless flying machine which is made on the basis of a modal control method providing a required root arrangement of a characteristic closed control system polynom. Results of the modeling at stabilization of a lateral pilotless flying machine co-ordinate are presented in the paper.

  18. Catch Composition of Tsetse Flies (Glossina: Glossinidae

    Directory of Open Access Journals (Sweden)

    K. E. Okoh


    Full Text Available Problem statement: A study to determine the composition of tsetse flies species was conducted between January and December, 2007 in Kamuku National Park, Nigeria, using Biconical and Nitse traps. Tsetse flies were trapped along gallery forest in five streams for two trapping days and were collected daily. Approach: All tsetse flies caught were identified to species level, sexed, separated into teneral and non-teneral, hunger staged and Mean Hunger Stage computed. Fly density were calculated, the age structure examined using wing fray techniques for males and ovarian technique for females; the reproductive status of female flies were assessed. Two species of tsetse flies (Glossina palpalis palpalis robineau-desvoidy and Glossina tachinoides Westwood were caught in total of five hundred and two (502 flies. Out of these, 309(61.6% Glossina tachinoides and 193(38.4% G. palpalis were caught. Male catches (309, 61.6% were significantly (P Results: The estimated mean age for males was 11 days and females were 8 days. The insemination rate of 93.8% generally was high, G. tachinoides recorded 95.5% more than G. palpalis of 91.6%. Whereas parity rate (25.8% was low; G. palpalis was 37.4% while G. tachinoides parity rate is 17.2%. Conclusion: The study shows that two species of tsetse flies abound in the park although at low densities their presence may bear semblance to Trypanosomiasis and its impact to ecotourism.

  19. Flying Probe Tester: Architecture, Principle and Implementation

    Institute of Scientific and Technical Information of China (English)

    Fu,Xu; Fang,Kangling; Chen,Guoqing


    This paper introduces the flying probe tester, which is a testing device for PCB. The architecture and principle of flying probe tester are firstly introduced. Then the implementation of hardware and software is illuminated briefly. Finally, the optimizing method for the probe's moving path is researched based on the traveling salesman problem.

  20. The change in the chemical form of copper in fly ash in a suitable temperature region for de novo synthesis

    Energy Technology Data Exchange (ETDEWEB)

    Takaoka, M.; Shiono, A.; Nishimura, K.; Takeda, N.; Oshita, K.; Matsumoto, T.; Harada, H. [Kyoto Univ. (Japan). Dept. of Urban and Environ. Eng.; Yamamoto, T. [Tokyo Inst. of Tech., Yokohama (Japan). Chemical Resources Lab.; Uruga, T. [JASRI, Hyogo (Japan); Tanaka, T. [Kyoto Univ. (Japan). Dept. of Molecular Eng.


    Copper chloride as an important catalyst generates many polychlorinated dibenzo-p-dioxins and dibenzofurans (PCDD/DFs) and related compounds in heat experiments involving model fly ash. We investigated the chemical forms of copper in actual fly ash before heating experiments and discuss the relationship that we discovered between the copper species Cu(OH){sub 2}, CuO, and Cu(OH){sub 2}.CuCO{sub 3}.H{sub 2}O and the formation of chlorinated aromatics in actual fly ash using X-ray absorption near-edge spectroscopy (XANES). Other results using model fly ash differ from ours. The thermal stabilities of these compounds are not high, so these compounds might not exist in fly ash in the temperature region suitable for de novo synthesis. Therefore, we conducted in situ XANES experiments using actual fly ash and two models of fly ash to understand the behavior of copper in fly ash in the temperature region suitable for de novo synthesis.

  1. Construction procedures using self hardening fly ash (United States)

    Thornton, S. I.; Parker, D. G.


    Fly ash produced in Arkansas from burning Wyoming low sulfur coal is self-hardening and can be effective as a soil stabilizing agent for clays and sands. The strength of soil-self hardening fly ash develops rapidly when compacted immediately after mixing. Seven day unconfined compressive strengths up to 1800 psi were obtained from 20% fly ash and 80% sand mixtures. A time delay between mixing the fly ash with the soil and compaction of the mixture reduced the strength. With two hours delay, over a third of the strength was lost and with four hours delay, the loss was over half. Gypsum and some commercial concrete retarders were effective in reducing the detrimental effect of delayed compaction. Adequate mixing of the soil and fly ash and rapid compaction of the mixtures were found to be important parameters in field construction of stabilized bases.

  2. Electrodialytic removal of heavy metals from fly ashes

    DEFF Research Database (Denmark)

    Pedersen, Anne Juul


    The aim of the Ph.D. work was to develop the electrodialytic remediation method for removal of heavy metals from fly ashes. The work was focused on two types of fly ashes: fly ashes from wood combustion and fly ashes from municipal solid waste incineration.......The aim of the Ph.D. work was to develop the electrodialytic remediation method for removal of heavy metals from fly ashes. The work was focused on two types of fly ashes: fly ashes from wood combustion and fly ashes from municipal solid waste incineration....

  3. Biomass fly ash in concrete: SEM, EDX and ESEM analysis

    Energy Technology Data Exchange (ETDEWEB)

    Shuangzhen Wang; Larry Baxter; Fernando Fonseca [Brigham Young University, Provo, UT (USA). Department of Chemical Engineering


    This document summarizes microscopy study of concrete prepared from cement and fly ash (25% fly ash and 75% cement by weight), which covers coal fly ash and biomass fly ash. All the fly ash concrete has the statistical equal strength from one day to one year after mix. Scanning electron microscopy (SEM), Energy dispersive X-ray (EDX) and environmental scanning electron microscopy (ESEM) analysis show that both coal and biomass fly ash particles undergo significant changes of morphology and chemical compositions in concrete due to pozzolanic reaction, although biomass fly ash differs substantially from coal fly ash in its fuel resources. 8 refs., 17 figs., 1 tab.

  4. Effect of Fly Ash on TSA Resistance of Cement-based Material

    Institute of Scientific and Technical Information of China (English)

    ZHANG Fengchen; MA Baoguo; WU Shengxing; ZHOU Jikai


    Thaumasite form of sulfate attack (TSA) is a major concern in evaluating durability of concrete structures subjected to sulfate and carbonate ions. By means of Fourier transform infrared spectroscopy (FT-IR), X-ray diffraction (XRD), scanning electron microscopy (SEM),and energy dispersive spectrum (EDS)as well as Raman spectra of erosion substances, effect of fly ash on TSA resistance of Portland cement-based material were investigated. Immersed in magnesium sulfate solution with 33 800 ppm mass concentration of SO42- at 5±2 ℃ for 15 weeks, ratio of compressive strength loss decreased as binder replacement ratio of fly ash increased. Furthermore, when binder replacement of fly ash was 60%, compressive strength increased. When thaumasite came into being in samples with 0, 15% binder replacement ratio of fly ash, ettringite and gypsum appeared in those with 30%, 45%, 60% binder replacement ratio of fly ash. Results mentioned above showed that fly ash can restrain formation of thaumasite and improve TSA resistance of Portland cement-based material sufficiently.

  5. Acidification - neutralization processes in a lignite mine spoil amended with fly ash or limestone

    Energy Technology Data Exchange (ETDEWEB)

    Seoane, S.; Leiros, M.C. [Universidad de Santiago de Compostela, Santiago de Compostela (Spain). Dept. de Edafologia y Quimica Agricola


    A laboratory experiment was conducted to investigate the long-term effects of amending sulfide-rich lignite mine spoil with fly ash (originating from a coal-fired power station and largely comprised of aluminosilicates) and/or agricultural limestone. The experiment was carried out with soil moisture maintained at field capacity or alternate cycles of wetting and drying. Results obtained suggest that the principal acidification processes were oxidation of sulfide and formation of hydroxysulfate (FeOHSO{sub 4}), whereas the main neutralization processes were weathering of aluminosilicates in fly ash-treated samples. The highest dose of limestone rapidly raised the pH of the spoil, but this increase was not maintained throughout the one-year experiment. In contrast, fly ash-treated samples showed a more sustained increase in pH, attributable to the gradual weathering of aluminosilicates. The best results (i.e., good short- and long-term neutralization) were obtained in samples treated with both fly ash and limestone. The low liming capacity of the fly ash (47.85 cmol kg{sup -1}) means that it must be used in large quantities, an advantage in achieving the further aim of disposing of the fly ash. 33 refs., 5 figs., 4 tabs.

  6. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja


    Full Text Available Now days, due to busy routine life, people forget to water their plants. In this paper, we present a completely autonomous and a cost-effective system for watering indoor potted plants placed on an even surface. The system comprises of a mobile robot and a temperature-humidity sensing module. The system is fully adaptive to any environment and takes into account the watering needs of the plants using the temperature-humidity sensing module. The paper describes the hardware architecture of the fully automated watering system, which uses wireless communication to communicate between the mobile robot and the sensing module. This gardening robot is completely portable and is equipped with a Radio Frequency Identification (RFID module, a microcontroller, an on-board water reservoir and an attached water pump. It is capable of sensing the watering needs of the plants, locating them and finally watering them autonomously without any human intervention. Mobilization of the robot to the potted plant is achieved by using a predefined path. For identification, an RFID tag is attached to each potted plant. The paper also discusses the detailed implementation of the system supported with complete circuitry. Finally, the paper concludes with system performance including the analysis of the water carrying capacity and time requirements to water a set of plants.

  7. Multi-agent autonomous system (United States)

    Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)


    A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

  8. Autonomous Lawnmower using FPGA implementation. (United States)

    Ahmad, Nabihah; Lokman, Nabill bin; Helmy Abd Wahab, Mohd


    Nowadays, there are various types of robot have been invented for multiple purposes. The robots have the special characteristic that surpass the human ability and could operate in extreme environment which human cannot endure. In this paper, an autonomous robot is built to imitate the characteristic of a human cutting grass. A Field Programmable Gate Array (FPGA) is used to control the movements where all data and information would be processed. Very High Speed Integrated Circuit (VHSIC) Hardware Description Language (VHDL) is used to describe the hardware using Quartus II software. This robot has the ability of avoiding obstacle using ultrasonic sensor. This robot used two DC motors for its movement. It could include moving forward, backward, and turning left and right. The movement or the path of the automatic lawn mower is based on a path planning technique. Four Global Positioning System (GPS) plot are set to create a boundary. This to ensure that the lawn mower operates within the area given by user. Every action of the lawn mower is controlled by the FPGA DE' Board Cyclone II with the help of the sensor. Furthermore, Sketch Up software was used to design the structure of the lawn mower. The autonomous lawn mower was able to operate efficiently and smoothly return to coordinated paths after passing the obstacle. It uses 25% of total pins available on the board and 31% of total Digital Signal Processing (DSP) blocks.

  9. Autonomous Robotic Inspection in Tunnels (United States)

    Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.


    In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

  10. TrackFly: virtual reality for a behavioral system analysis in free-flying fruit flies. (United States)

    Fry, Steven N; Rohrseitz, Nicola; Straw, Andrew D; Dickinson, Michael H


    Modern neuroscience and the interest in biomimetic control design demand increasingly sophisticated experimental techniques that can be applied in freely moving animals under realistic behavioral conditions. To explore sensorimotor flight control mechanisms in free-flying fruit flies (Drosophila melanogaster), we equipped a wind tunnel with a Virtual Reality (VR) display system based on standard digital hardware and a 3D path tracking system. We demonstrate the experimental power of this approach by example of a 'one-parameter open loop' testing paradigm. It provided (1) a straightforward measure of transient responses in presence of open loop visual stimulation; (2) high data throughput and standardized measurement conditions from process automation; and (3) simplified data analysis due to well-defined testing conditions. Being based on standard hardware and software techniques, our methods provide an affordable, easy to replicate and general solution for a broad range of behavioral applications in freely moving animals. Particular relevance for advanced behavioral research tools originates from the need to perform detailed behavioral analyses in genetically modified organisms and animal models for disease research.

  11. Mineralogy and microstructure of sintered lignite coal fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Marina Ilic; Christopher Cheeseman; Christopher Sollars; Jonathan Knight [Faculty of Technology and Metallurgy, Belgrade (Yugoslavia)


    Lignite coal fly ash from the 'Nikola Tesla' power plant in Yugoslavia has been characterised, milled, compacted and sintered to form monolithic ceramic materials. The effect of firing at temperatures between 1130 and 1190{sup o}C on the density, water accessible porosity, mineralogy and microstructure of sintered samples is reported. This class C fly ash has an initial average particle size of 82 {mu}m and contains siliceous glass together with the crystalline phases quartz, anorthite, gehlenite, hematite and mullite. Milling the ash to an average particle size of 5.6 m, compacting and firing at 1170{sup o}C for 1 h produces materials with densities similar to clay-based ceramics that exhibit low water absorption. Sintering reduces the amount of glass, quartz, gehlenite and anhydrite, but increases formation of anorthite, mullite, hematite and cristobalite. SEM confirms the formation of a dense ceramic at 1170{sup o}C and indicates that pyroplastic effects cause pore formation and bloating at 1190{sup o}C. 23 refs., 6 figs., 2 tabs.

  12. A novel astronomical application for formation flying small satellites

    NARCIS (Netherlands)

    Bentum, M.J.; Verhoeven, C.J.M.; Boonstra, A.J.; Van der Veen, A.J.; Gill, E.K.A.


    OLFAR, Orbiting Low Frequency Antennas for Radio Astronomy, will be a space mission to observe the universe frequencies below 30 MHz, as it was never done before with an orbiting telescope. Because of the ionospheric scintillations below 30 MHz and the opaqueness of the ionosphere below 15 MHz, a sp

  13. A novel astronomical application for formation flying small satellites

    NARCIS (Netherlands)

    Bentum, M.J.; Verhoeven, C.J.M.; Boonstra, A.J.; Veen, van der A.J.; Gill, E.K.A.


    OLFAR, Orbiting Low Frequency Antennas for Radio Astronomy, will be a space mission to observe the universe frequencies below 30 MHz, as it was never done before with an orbiting telescope. Because of the ionospheric scintillations below 30 MHz and the opaqueness of the ionosphere below 15 MHZ, a sp

  14. A New Formation Flying/Satellite Swarm Concept Project (United States)

    National Aeronautics and Space Administration — NASA plans to build a lab bench operational system capable of tracking the position and orientation of small satellites as well as producing forces and torques on...

  15. FLI-1 Flightless-1 and LET-60 Ras control germ line morphogenesis in C. elegans

    Directory of Open Access Journals (Sweden)

    Dentler William L


    Full Text Available Abstract Background In the C. elegans germ line, syncytial germ line nuclei are arranged at the cortex of the germ line as they exit mitosis and enter meiosis, forming a nucleus-free core of germ line cytoplasm called the rachis. Molecular mechanisms of rachis formation and germ line organization are not well understood. Results Mutations in the fli-1 gene disrupt rachis organization without affecting meiotic differentiation, a phenotype in C. elegans referred to here as the germ line morphogenesis (Glm phenotype. In fli-1 mutants, chains of meiotic germ nuclei spanned the rachis and were partially enveloped by invaginations of germ line plasma membrane, similar to nuclei at the cortex. Extensions of the somatic sheath cells that surround the germ line protruded deep inside the rachis and were associated with displaced nuclei in fli-1 mutants. fli-1 encodes a molecule with leucine-rich repeats and gelsolin repeats similar to Drosophila flightless 1 and human Fliih, which have been shown to act as cytoplasmic actin regulators as well as nuclear transcriptional regulators. Mutations in let-60 Ras, previously implicated in germ line development, were found to cause the Glm phenotype. Constitutively-active LET-60 partially rescued the fli-1 Glm phenotype, suggesting that LET-60 Ras and FLI-1 might act together to control germ line morphogenesis. Conclusion FLI-1 controls germ line morphogenesis and rachis organization, a process about which little is known at the molecular level. The LET-60 Ras GTPase might act with FLI-1 to control germ line morphogenesis.

  16. Immobilization of cesium in alkaline activated fly ash matrix (United States)

    Fernandez-Jimenez, A.; Macphee, D. E.; Lachowski, E. E.; Palomo, A.


    The immobilization potential of alkaline activated fly ash (AAFA) matrices for cesium has been investigated. The presence of Cs in the AAFA pastes, prepared using 8M NaOH solution as activator, showed no significant adverse effects on mechanical strength or microstructure, nor were significant quantities of Cs leached following application of the Toxic Characteristic Leaching Procedure (TCLP) and American Nuclear Society (ANS) 16.1 leaching protocols. Microstructural analysis shows Cs associated with the main reaction product in the AAFA suggesting that cesium is chemically bound rather than physically encapsulated. It is proposed that cesium is incorporated into the alkaline aluminosilicate gel, a precursor for zeolite formation.

  17. Goal Reasoning for an Autonomous Squad Member (United States)


    2015 Annual Conference on Advances in Cognitive Systems: Workshop on Goal Reasoning Goal Reasoning for an Autonomous Squad Member Kellen...20375 USA Abstract Autonomous agents are beginning to play larger roles within team-oriented tasks and missions in various domains. Many reasoning ...present a goal reasoning system for this agent that integrates natural language processing, explanation generation, and plan recognition components

  18. Blunted autonomic response in cluster headache patients

    DEFF Research Database (Denmark)

    Barloese, Mads; Brinth, Louise; Mehlsen, Jesper


    BACKGROUND: Cluster headache (CH) is a disabling headache disorder with chronobiological features. The posterior hypothalamus is involved in CH pathophysiology and is a hub for autonomic control. We studied autonomic response to the head-up tilt table test (HUT) including heart rate variability...

  19. Intelligent autonomous systems 12. Vol. 2. Proceedings

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sukhan [Sungkyunkwan Univ., Gyeonggi-Do (Korea, Republic of). College of Information and Communication Engineering; Yoon, Kwang-Joon [Konkuk Univ., Seoul (Korea, Republic of); Cho, Hyungsuck [Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Lee, Jangmyung (eds.) [Pusan National Univ. (Korea, Republic of). Dept. of Electronics Engineering


    Recent research in Intelligent and Autonomous Systems. Volume 2 of the proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, jeju Island, Korea. Written by leading experts in the field. Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of ''Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering.

  20. Autonomous Control of Space Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na


    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

  1. An autonomous weeding robot for organic farming

    NARCIS (Netherlands)

    Bakker, T.; Asselt, van C.J.; Bontsema, J.; Müller, J.; Straten, van G.


    The objective of this research is the replacement of hand weeding in organic farming by a device working autonomously at ¯eld level. The autonomous weeding robot was designed using a structured design approach, giving a good overview of the total design. A vehicle was developed with a diesel engine,

  2. Energy homeostasis, autonomic activity and obesity

    NARCIS (Netherlands)

    Scheurink, AJW; Balkan, B; Nyakas, C; vanDijk, G; Steffens, AB; Bohus, B


    Obesity is often accompanied by alterations in both sympathetic and parasympathetic autonomic functions. The present paper summarizes the results of a number of studies designed to investigate autonomic functioning in normal, genetically, and experimentally obese rats, Particular emphasis is given t

  3. Technologies for highly miniaturized autonomous sensor networks

    NARCIS (Netherlands)

    Baert, K.; Gyselinckx, B.; Torfs, T.; Leonov, V.; Yazicioglu, F.; Brebels, S.; Donnay, S.; Vanfleteren, J.; Beyne, E.; Hoof, C. van


    Recent results of the autonomous sensor research program HUMAN++ will be summarized in this paper. The research program aims to achieve highly miniaturized and (nearly) autonomous sensor systems that assist our health and comfort. Although the application examples are dedicated to human monitoring/a

  4. Avrocar: a real flying saucer

    CERN Document Server

    Fedrigo, Desire Francine G; Gobato, Alekssander


    One of the most unusual military aircraft programs V / STOL was the Avro VZ-9 "Avrocar". Designed to be a real flying saucer, the Avrocar was one of the few V / STOL to be developed in complete secrecy. Despite significant changes in the design, during flight tests, the Avrocar was unable to achieve its objectives, and the program was eventually canceled after an expenditure of 10 million US dollars between 1954 and 1961. But the concept of a lift fan, driven by a turbojet engine is not dead, and lives today as a key component of Lockheed X-35 Joint Strike Fighter contender. Was held in a data research and information related to Avrocar project carried out during the Second World War, which was directly linked to advances in aircraft that were built after it, and correlate them with the turbo fan engines used today.

  5. Shh-mediated degradation of Hhip allows cell autonomous and non-cell autonomous Shh signalling. (United States)

    Kwong, Lina; Bijlsma, Maarten F; Roelink, Henk


    The distribution of Sonic Hedgehog (Shh) is a highly regulated and critical process for development. Several negative feedback mechanisms are in place, including the Shh-induced upregulation of Hedgehog-interacting protein (Hhip). Hhip sequesters Shh, leading to a non-cell autonomous inhibition of the pathway. Hhip overexpression has a severe effect on neural tube development, raising the question why normal sites of Hhip expression have a seemingly unimpaired response to Shh. Here we show that although Hhip is able to leave its sites of synthesis to inhibit Shh non-cell autonomously, activation of Smoothened (Smo) drastically increases Hhip internalization and degradation cell autonomously. Although Hhip is unable to cell autonomously inhibit the consequences of Smo activation, it can inhibit the Shh response non-cell autonomously. Our data provide a mechanism by which the Shh ligand can activate the response and negate cell autonomous effects of Hhip, while Hhip can still induce non-cell autonomous inhibition.

  6. Autonomic Self-Repairing Glassy Materials

    Energy Technology Data Exchange (ETDEWEB)

    Coillot, D.; Mear, F.O.; Montagne, L. [Univ Lille Nord France, CNRS, Unite Catalyse and Chim Solide, UMR 8181, F-59652 Villeneuve Dascq (France); Podor, R. [CEA Marcoule, CNRS UM2 ENSCM, Inst Chim Separat Marcoule, UMR 5257, 30 (France)


    A new process that enables glassy materials to self-repair from mechanical damage is presented in this paper. Contrary to intrinsic self-healing, which involves overheating to enable crack healing by glass softening, this process is based on an extrinsic effect produced by vanadium boride (VB) particles dispersed within the glass matrix. Self-repair is obtained through the oxidation of VB particles, and thus without the need to increase the operating temperature. The VB healing agent is selected for its capacity to oxidize at a lower temperature than the softening point of the glass. Thermogravimetric analyses indeed show that VB oxidation is rapid and occurs below the glass transition temperature. Solid-state nuclear magnetic resonance spectroscopy indicates that VB is oxidized into V{sub 2}O{sub 5} and B{sub 2}O{sub 3}, which enable the local formation of glass. The autonomic self-healing effect is demonstrated by an in situ experiment visualized using an environmental scanning electron microscope. It is shown that a crack could be healed by the VB oxidation products. (authors)

  7. Treatment of fly ash for use in concrete (United States)

    Boxley, Chett; Akash, Akash; Zhao, Qiang


    A process for treating fly ash to render it highly usable as a concrete additive. A quantity of fly ash is obtained that contains carbon and which is considered unusable fly ash for concrete based upon foam index testing. The fly ash is mixed with an activator solution sufficient to initiate a geopolymerization reaction and for a geopolymerized fly ash. The geopolymerized fly ash is granulated. The geopolymerized fly ash is considered usable fly ash for concrete according to foam index testing. The geopolymerized fly ash may have a foam index less than 35% of the foam index of the untreated fly ash, and in some cases less than 10% of the foam index of the untreated fly ash. The activator solution may contain an alkali metal hydroxide, carbonate, silicate, aluminate, or mixtures thereof.

  8. Treatment of fly ash for use in concrete (United States)

    Boxley, Chett [Park City, UT


    A process for treating fly ash to render it highly usable as a concrete additive. A quantity of fly ash is obtained that contains carbon and which is considered unusable fly ash for concrete based upon foam index testing. The fly ash is mixed with a quantity of spray dryer ash (SDA) and water to initiate a geopolymerization reaction and form a geopolymerized fly ash. The geopolymerized fly ash is granulated. The geopolymerized fly ash is considered usable fly ash for concrete according to foam index testing. The geopolymerized fly ash may have a foam index less than 40%, and in some cases less than 20%, of the foam index of the untreated fly ash. An optional alkaline activator may be mixed with the fly ash and SDA to facilitate the geopolymerization reaction. The alkaline activator may contain an alkali metal hydroxide, carbonate, silicate, aluminate, or mixtures thereof.

  9. Treatment of fly ash for use in concrete (United States)

    Boxley, Chett; Akash, Akash; Zhao, Qiang


    A process for treating fly ash to render it highly usable as a concrete additive. A quantity of fly ash is obtained that contains carbon and which is considered unusable fly ash for concrete based upon foam index testing. The fly ash is mixed with an activator solution sufficient to initiate a geopolymerization reaction and for a geopolymerized fly ash. The geopolymerized fly ash is granulated. The geopolymerized fly ash is considered usable fly ash for concrete according to foam index testing. The geopolymerized fly ash may have a foam index less than 35% of the foam index of the untreated fly ash, and in some cases less than 10% of the foam index of the untreated fly ash. The activator solution may contain an alkali metal hydroxide, carbonate, silicate, aluminate, or mixtures thereof.

  10. Effects of ultrasonic treatment on zeolite synthesized from coal fly ash. (United States)

    Belviso, Claudia; Cavalcante, Francesco; Lettino, Antonio; Fiore, Saverio


    The synthesis of zeolites from three samples of fly ash was carried out through a low-temperature (25-60°C) hydrothermal process with a NaOH pre-fusion treatment preceded by sonication. The results were compared with those of conventional hydrothermal syntheses. XRD and SEM investigations demonstrate that the application of ultrasonic treatment facilitates the formation of zeolites at a lower-temperature (25°C) than syntheses not preceded by sonication. No significant difference in type, temperature of crystallization, or amount of zeolites synthesized was noted between the three different samples of fly ash, implying that the chemical composition of fly ash had little influence on the zeolite product within the compositional range of these fly ash precursors. Although there appears to be a correlation between the SiO(2)/Al(2)O(3) ratio of the fly ash and the temperature of zeolite formation by conventional synthesis, no correlation was apparent when ultrasonic pre-treatment was used at low-temperatures.

  11. Trapping tsetse flies on water

    Directory of Open Access Journals (Sweden)

    Laveissière C.


    Full Text Available Riverine tsetse flies such as Glossina palpalis gambiensis and G. tachinoides are the vectors of human and animal trypanosomoses in West Africa. Despite intimate links between tsetse and water, to our knowledge there has never been any attempt to design trapping devices that would catch tsetse on water. In mangrove (Guinea one challenging issue is the tide, because height above the ground for a trap is a key factor affecting tsetse catches. The trap was mounted on the remains of an old wooden dugout, and attached with rope to nearby branches, thereby allowing it to rise and fall with the tide. Catches showed a very high density of 93.9 flies/”water-trap”/day, which was significantly higher (p < 0.05 than all the catches from other habitats where the classical trap had been used. In savannah, on the Comoe river of South Burkina Faso, the biconical trap was mounted on a small wooden raft anchored to a stone, and catches were compared with the classical biconical trap put on the shores. G. p. gambiensis and G. tachinoides densities were not significantly different from those from the classical biconical one. The adaptations described here have allowed to efficiently catch tsetse on the water, which to our knowledge is reported here for the first time. This represents a great progress and opens new opportunities to undertake studies on the vectors of trypanosomoses in mangrove areas of Guinea, which are currently the areas showing the highest prevalences of sleeping sickness in West Africa. It also has huge potential for tsetse control using insecticide impregnated traps in savannah areas where traps become less efficient in rainy season. The Guinean National control programme has already expressed its willingness to use such modified traps in its control campaigns in Guinea, as has the national PATTEC programme in Burkina Faso during rainy season.

  12. Autonomic Management for Multi-agent Systems

    CERN Document Server

    Salih, Nadir K; Viju, PG K; Mohamed, Abdelmotalib A


    Autonomic computing is a computing system that can manage itself by self-configuration, self-healing, self-optimizing and self-protection. Researchers have been emphasizing the strong role that multi agent systems can play progressively towards the design and implementation of complex autonomic systems. The important of autonomic computing is to create computing systems capable of managing themselves to a far greater extent than they do today. With the nature of autonomy, reactivity, sociality and pro-activity, software agents are promising to make autonomic computing system a reality. This paper mixed multi-agent system with autonomic feature that completely hides its complexity from users/services. Mentioned Java Application Development Framework as platform example of this environment, could applied to web services as front end to users. With multi agent support it also provides adaptability, intelligence, collaboration, goal oriented interactions, flexibility, mobility and persistence in software systems

  13. Autonomous power system intelligent diagnosis and control (United States)

    Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony


    The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

  14. Cardiovascular autonomic neuropathy in the diabetic patients.

    Directory of Open Access Journals (Sweden)

    Maria Eugenia Niño Mantilla


    Full Text Available the dysfunction of the autonomic nervous system is a serious problem in diabetic patients. The cardiovacular autonomic neuropathy is the most important autonomic dysfuntion for it´s implication in the increasesof the mortality rate in diabetis patients. tis ethiopatogenesis is the result of a multifactorial process caused by chronic hyperglycemia, ending up in damage of the autonomic fibers thet innervate the heart and blood vessels, leading to dysfuntional hearth rate control and abnormal vascular dynamics. the associated clinical manifestations include orthotatic hypotension, excecise intolerance, intraoperative cardiovascular liability and silent myocardial ischemia. Being important its recognition, quantitative test to evaluate the cardiovascular funtion, to value its evolution and the effects of the treatment ahould be done, being the most used, the hearth rate response to standing test, and teh valsalva maneuver. the handling of this entity is done improving control of glucose blood levels its the most effective way to prevent the cardiovascular autonomic neuropathy in the diabetic patients.

  15. Image Dependent Relative Formation Navigation for Autonomous Aerial Refueling (United States)


    OpenGL canonical viewing volume . . . . . . . . . . . . . . . . 36 2.16. Overview OpenGL process . . . . . . . . . . . . . . . . . . . . 38 2.17. Two arrow...device coordinate frame . . . . . . . . 36 CVV OpenGL canonical viewing volume . . . . . . . . . . . . . 36 GLimage OpenGL image frame...65 PSD Power Spectral Density . . . . . . . . . . . . . . . . . . . 67 FOGM first-order Gauss -Markov process . . . . . . . . . . . . . . 70 NM

  16. A multimodal micro air vehicle for autonomous flight in near-earth environments (United States)

    Green, William Edward

    Reconnaissance, surveillance, and search-and-rescue missions in near-Earth environments such as caves, forests, and urban areas pose many new challenges to command and control (C2) teams. Of great significance is how to acquire situational awareness when access to the scene is blocked by enemy fire, rubble, or other occlusions. Small bird-sized aerial robots are expendable and can fly over obstacles and through small openings to assist in the acquisition and distribution of intelligence. However, limited flying space and densely populated obstacle fields requires a vehicle that is capable of hovering, but also maneuverable. A secondary flight mode was incorporated into a fixed-wing aircraft to preserve its maneuverability while adding the capability of hovering. An inertial measurement sensor and onboard flight control system were interfaced and used to transition the hybrid prototype from cruise to hover flight and sustain a hover autonomously. Furthermore, the hovering flight mode can be used to maneuver the aircraft through small openings such as doorways. An ultrasonic and infrared sensor suite was designed to follow exterior building walls until an ingress route was detected. Reactive control was then used to traverse the doorway and gather reconnaissance. Entering a dangerous environment to gather intelligence autonomously will provide an invaluable resource to any C2 team. The holistic approach of platform development, sensor suite design, and control serves as the philosophy of this work.

  17. An autonomous molecular assembler for programmable chemical synthesis (United States)

    Meng, Wenjing; Muscat, Richard A.; McKee, Mireya L.; Milnes, Phillip J.; El-Sagheer, Afaf H.; Bath, Jonathan; Davis, Benjamin G.; Brown, Tom; O'Reilly, Rachel K.; Turberfield, Andrew J.


    Molecular machines that assemble polymers in a programmed sequence are fundamental to life. They are also an achievable goal of nanotechnology. Here, we report synthetic molecular machinery made from DNA that controls and records the formation of covalent bonds. We show that an autonomous cascade of DNA hybridization reactions can create oligomers, from building blocks linked by olefin or peptide bonds, with a sequence defined by a reconfigurable molecular program. The system can also be programmed to achieve combinatorial assembly. The sequence of assembly reactions and thus the structure of each oligomer synthesized is recorded in a DNA molecule, which enables this information to be recovered by PCR amplification followed by DNA sequencing.

  18. Digital autonomous terminal access communications (United States)

    Novacki, S.


    A significant problem for the Bus Monitor Unit is to identify the source of a given transmission. This problem arises from the fact that the label which identifies the source of the transmission as it is put into the bus is intercepted by the Digital Autonomous Terminal Access Communications (DATAC) terminal and removed from the transmission. Thus, a given subsystem will see only data associated with a label and never the identifying label itself. The Bus Monitor must identify the source of the transmission so as to be able to provide some type of error identification/location in the event that some problem with the data transmission occurs. Steps taken to alleviate this problem by modifications to the DATAC terminal are discussed.

  19. Autonomous Spacecraft Navigation With Pulsars

    CERN Document Server

    Becker, Werner; Jessner, Axel


    An external reference system suitable for deep space navigation can be defined by fast spinning and strongly magnetized neutron stars, called pulsars. Their beamed periodic signals have timing stabilities comparable to atomic clocks and provide characteristic temporal signatures that can be used as natural navigation beacons, quite similar to the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location, the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. The unique properties of pulsars make clear already today that such a navigation system will have its application in future astronautics. In this paper we describe the basic principle of spacecraft navigation using pulsars and report on the current development status of this novel technology.

  20. Mechanical autonomous stochastic heat engines (United States)

    Serra-Garcia, Marc; Foehr, Andre; Moleron, Miguel; Lydon, Joseph; Chong, Christopher; Daraio, Chiara; . Team

    Stochastic heat engines extract work from the Brownian motion of a set of particles out of equilibrium. So far, experimental demonstrations of stochastic heat engines have required extreme operating conditions or nonautonomous external control systems. In this talk, we will present a simple, purely classical, autonomous stochastic heat engine that uses the well-known tension induced nonlinearity in a string. Our engine operates between two heat baths out of equilibrium, and transfers energy from the hot bath to a work reservoir. This energy transfer occurs even if the work reservoir is at a higher temperature than the hot reservoir. The talk will cover a theoretical investigation and experimental results on a macroscopic setup subject to external noise excitations. This system presents an opportunity for the study of non equilibrium thermodynamics and is an interesting candidate for innovative energy conversion devices.

  1. Sleep in trigeminal autonomic cephalagias

    DEFF Research Database (Denmark)

    Barløse, Mads; Lund, Nunu; Jensen, Rigmor Højland


    PURPOSE OF REVIEW: Sleep and cluster headache (CH) are believed to be interconnected but the precise relation to the other trigeminal autonomic cephalalgias (TACs) is uncertain and complex. A better understanding of these relations may eventually lead to a clarification of the underlying mechanisms...... and eventually to more effective therapeutic regimens. This review aims to evaluate the existing literature on the subject of TACs and sleep. An association between episodic CH and distinct macrostructural sleep phases, especially the relation to rapid eye movement (REM) sleep, has been described in some older...... studies but could not be confirmed in other, more recent studies. Investigations into the microstructure of sleep in these patients are lacking. Only a few case reports exist on the relation between sleep and other TACs. SUMMARY: Recent studies do not find an association between CH and REM sleep. One...

  2. Autonomous Guidance, Navigation and Control (United States)

    Bordano, A. J.; Mcswain, G. G.; Fernandes, S. T.


    The NASA Autonomous Guidance, Navigation and Control (GN&C) Bridging program is reviewed to demonstrate the program plan and GN&C systems for the Space Shuttle. The ascent CN&C system is described in terms of elements such as the general-purpose digital computers, sensors for the navigation subsystem, the guidance-system software, and the flight-control subsystem. Balloon-based and lidar wind soundings are used for operations assessment on the day of launch, and the guidance software is based on dedicated units for atmospheric powered flight, vacuum powered flight, and abort-specific situations. Optimization of the flight trajectories is discussed, and flight-control responses are illustrated for wavelengths of 500-6000 m. Alternate sensors are used for load relief, and adaptive GN&C systems based on alternate gain synthesis are used for systems failures.

  3. Autonomous navigation system and method (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID


    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  4. Autonomous navigation system and method

    Energy Technology Data Exchange (ETDEWEB)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID


    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  5. Responsibility and autonomous nursing practice. (United States)

    Holden, R J


    In this paper, the consequences were there greater autonomy in nursing practice, are considered. Autonomous practice implies accountability which entails both personal and professional responsibility: a personal responsibility to endorse ethical conduct consistent with professional practice; and a professional responsibility to exercise discretionary powers to the ultimate benefit of the patient. In this context, discretionary responsibility implies: recognizing a patient's wants may not be consistent with a patient's needs; abstaining from collusion with noncompliant patients; supporting the patient's right to refuse treatment only after full psychological exploration; understanding the psychological ramifications of informed consent from a practitioner and recipient point of view; maintaining appropriate personal and professional boundaries; and fostering collegiate relationships with the medical fraternity grounded on egalitarian principles. The author provides a philosophical and psychological analysis of responsibility in an effort to achieve a deeper understanding of the relationship this has with the concepts of 'freedom' and 'accountability'.

  6. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome


    Full Text Available There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. AUVs can comprehensive survey because the vehicle does not have to be connected to the support vessel by tether cable. When such underwater vehicles are made, it is necessary to consider about the following things. 1 Seawater and Water Pressure Environment, 2 Sink, 3 There are no Gas or Battery Charge Stations, 4 Global Positioning System cannot use, 5 Radio waves cannot use. In the paper, outline of above and how deal about it are explained.

  7. Autonomous Infrastructure for Observatory Operations (United States)

    Seaman, R.

    This is an era of rapid change from ancient human-mediated modes of astronomical practice to a vision of ever larger time domain surveys, ever bigger "big data", to increasing numbers of robotic telescopes and astronomical automation on every mountaintop. Over the past decades, facets of a new autonomous astronomical toolkit have been prototyped and deployed in support of numerous space missions. Remote and queue observing modes have gained significant market share on the ground. Archives and data-mining are becoming ubiquitous; astroinformatic techniques and virtual observatory standards and protocols are areas of active development. Astronomers and engineers, planetary and solar scientists, and researchers from communities as diverse as particle physics and exobiology are collaborating on a vast range of "multi-messenger" science. What then is missing?

  8. APDS: Autonomous Pathogen Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Langlois, R G; Brown, S; Burris, L; Colston, B; Jones, L; Makarewicz, T; Mariella, R; Masquelier, D; McBride, M; Milanovich, F; Masarabadi, S; Venkateswaran, K; Marshall, G; Olson, D; Wolcott, D


    An early warning system to counter bioterrorism, the Autonomous Pathogen Detection System (APDS) continuously monitors the environment for the presence of biological pathogens (e.g., anthrax) and once detected, it sounds an alarm much like a smoke detector warns of a fire. Long before September 11, 2001, this system was being developed to protect domestic venues and events including performing arts centers, mass transit systems, major sporting and entertainment events, and other high profile situations in which the public is at risk of becoming a target of bioterrorist attacks. Customizing off-the-shelf components and developing new components, a multidisciplinary team developed APDS, a stand-alone system for rapid, continuous monitoring of multiple airborne biological threat agents in the environment. The completely automated APDS samples the air, prepares fluid samples in-line, and performs two orthogonal tests: immunoassay and nucleic acid detection. When compared to competing technologies, APDS is unprecedented in terms of flexibility and system performance.

  9. Marijuana effects on simulated flying ability. (United States)

    Janowsky, D S; Meacham, M P; Blaine, J D; Schoor, M; Bozzetti, L P


    The authors studied the effects of marijuana intoxication on the ability of 10 certified airplane pilots to operate a flight simulator. They used a randomized double-blind crossover design to compare the effect of active versus placebo marijuana. They found that all 10 pilots showed a significant decrease in measurements of flying performance 30 minutes after smoking active marijuana. For a group of 6 pilots tested sequentially for 6 hours, a nonsignificant decrease in flying performance continued for 2 hours after smoking the active drug. The authors conclude that the effects of marijuana on flying performance may represent a sensitive indicator of the drug's psychomotor effects.

  10. Radar based autonomous sensor module (United States)

    Styles, Tim


    Most surveillance systems combine camera sensors with other detection sensors that trigger an alert to a human operator when an object is detected. The detection sensors typically require careful installation and configuration for each application and there is a significant burden on the operator to react to each alert by viewing camera video feeds. A demonstration system known as Sensing for Asset Protection with Integrated Electronic Networked Technology (SAPIENT) has been developed to address these issues using Autonomous Sensor Modules (ASM) and a central High Level Decision Making Module (HLDMM) that can fuse the detections from multiple sensors. This paper describes the 24 GHz radar based ASM, which provides an all-weather, low power and license exempt solution to the problem of wide area surveillance. The radar module autonomously configures itself in response to tasks provided by the HLDMM, steering the transmit beam and setting range resolution and power levels for optimum performance. The results show the detection and classification performance for pedestrians and vehicles in an area of interest, which can be modified by the HLDMM without physical adjustment. The module uses range-Doppler processing for reliable detection of moving objects and combines Radar Cross Section and micro-Doppler characteristics for object classification. Objects are classified as pedestrian or vehicle, with vehicle sub classes based on size. Detections are reported only if the object is detected in a task coverage area and it is classified as an object of interest. The system was shown in a perimeter protection scenario using multiple radar ASMs, laser scanners, thermal cameras and visible band cameras. This combination of sensors enabled the HLDMM to generate reliable alerts with improved discrimination of objects and behaviours of interest.

  11. Autonomous caregiver following robotic wheelchair (United States)

    Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary


    In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

  12. A high speed telemetry data link for an autonomous roving vehicle (United States)

    Cipolle, D. J.


    A data link system used on a prototype autonomous roving vehicle is described. This system provides a means of acquiring, formatting, and transmitting information on board the vehicle to a controlling computer. Included is a statement of requirements and the design philosophy. Additionally, interfacing with the rover systems is discussed, along with the overall performance of the telemetry link.

  13. Rosetta performs ESA's closest-ever Earth fly-by (United States)


    Rosetta’s unique instruments, such as its ultraviolet light instrument ALICE, should be able to make critical contributions to the American mission. About Rosetta Rosetta is the first mission designed to both orbit and land on a comet, and consists of an orbiter and a lander. The spacecraft carries 11 scientific experiments and will be the first mission to undertake long-term exploration of a comet at close quarters. After entering orbit around Comet 67P/Churyumov-Gerasimenko in 2014, the spacecraft will release a small lander onto the icy nucleus. Rosetta will orbit the comet for about a year as it heads towards the Sun, remaining in orbit for another half-year past perihelion (closest approach to the Sun). Comets hold essential information about the origin of our Solar System because they are the most primitive objects in the Solar System and their chemical composition has changed little since their formation. By orbiting and landing on Comet 67P/Churyumov-Gerasimenko, Rosetta will help us reconstruct the history of our own neighbourhood in space. Note for broadcasters: The ESA TV Service will transmit a TV exchange with images of the fly-by, together with science results/images from observations as far as available on 11 March. For further details :

  14. Current challenges in autonomous vehicle development (United States)

    Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.


    The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

  15. Flying Through Dust From Asteroids (United States)

    Kohler, Susanna


    How can we tell what an asteroid is made of? Until now, weve relied on remote spectral observations, though NASAs recently launched OSIRIS-REx mission may soon change this by landing on an asteroid and returning with a sample.But what if we could learn more about the asteroids near Earth without needing to land on each one? It turns out that we can by flying through their dust.The aerogel dust collector of the Stardust mission. [NASA/JPL/Caltech]Ejected CluesWhen an airless body is impacted by the meteoroids prevalent throughout our solar system, ejecta from the body are flung into the space around it. In the case of small objects like asteroids, their gravitational pull is so weak that most of the ejected material escapes, forming a surrounding cloud of dust.By flying a spacecraft through this cloud, we could perform chemical analysis of the dust, thereby determining the asteroids composition. We could even capture some of the dust during a flyby (for example, by using an aerogel collector like in the Stardust mission) and bring it back home to analyze.So whats the best place to fly a dust-analyzing or -collecting spacecraft? To answer this, we need to know what the typical distribution of dust is around a near-Earth asteroid (NEA) a problem that scientists Jamey Szalay (Southwest Research Institute) and Mihly Hornyi (University of Colorado Boulder) address in a recent study.The colors show the density distribution for dust grains larger than 0.3 m around a body with a 10-km radius. The distribution is asymmetric, with higher densities on the apex side, shown here in the +y direction. [Szalay Hornyi 2016]Moon as a LaboratoryTo determine typical dust distributions around NEAs, Szalay and Hornyi first look at the distribution of dust around our own Moon, caused by the same barrage of meteorites wed expect to impact NEAs. The Moons dust cloud was measured in situ in 2013 and 2014 by the Lunar Dust Experiment (LDEX) on board the Lunar Atmosphere and Dust Environment

  16. Effect of Fly Ash on the Electrical Conductivity of Concretes

    Institute of Scientific and Technical Information of China (English)


    The fly ash occasionally has high content of iron oxide and carbon that are good electrical conducting components. This paper investigates the effect of the fly ash used as mineral admixtures on the electrical conductivity of concretes. The electrical properties of concretes using 3 kinds of fly ash with different iron oxide contents have been studied. Experimental results show that at the same fly ash dosage the resistivity of concrete using fly ash with high content of iron oxide is slightly lower than that with low content of iron oxide. However, the concrete resistivity after 14d increases as fly ash dosage increases regardless of iron oxide content in fly ash.

  17. Dynamic Optimization Algorithm for Flying Trajectory of a Free-flying Space Robot

    Institute of Scientific and Technical Information of China (English)


    A new method of dynamic optimization for the flying trajectory of a free-flying space robot based on its flying motion characteristics is presented. The continuous flying trajectory is broken into a number of segment and the control efforts and the duration of the segment are chosen as the optimization parameters. The objective function is made by using the weighted sum of the fuel used and the time spent, and the constraint equations are selected. Finally, the internal point punishment function method is adopted in the optimization program, and the results of computer simulation are given.

  18. Biomass fly ash in concrete: Mixture proportioning and mechanical properties

    Energy Technology Data Exchange (ETDEWEB)

    Shuangzhen Wang; Amber Miller; Emilio Llamazos; Fernando Fonseca; Larry Baxter [Brigham Young University, Provo, UT (USA). Department of Chemical Engineering


    ASTM C 618 prohibits use of biomass fly ashes in concrete. This document compares the properties of biomass fly ashes from cofired (herbaceous with coal), pure wood combustion and blended (pure wood fly ash blended with coal fly ash) to those of coal fly ash in concrete. The results illustrate that with 25% replacement (wt%) of cement by fly ash, the compressive strength (one day to one year) and the flexure strength (at 56th day curing) of cofired and blended biomass fly ash concrete is statistically equal to that of two coal fly ash concrete in this investigation (at 95% confidence interval). This implies that biomass fly ash with co-firing concentration within the concentration interest to commercial coal-biomass co-firing operations at power plants and blended biomass fly ash within a certain blending ratio should be considered in concrete. 37 refs., 10 figs., 2 tabs.

  19. Tsetse fly microbiota: form and function

    Directory of Open Access Journals (Sweden)

    Jingwen eWang


    Full Text Available Tsetse flies are the primary vectors of African trypanosomes, which cause Human and Animal African trypanosomiasis in 36 countries in sub-Saharan Africa. These flies have also established symbiotic associations with bacterial and viral microorganisms. Laboratory-reared tsetse flies harbor up to four vertically transmitted organisms - obligate Wigglesworthia, commensal Sodalis, parasitic Wolbachia and Salivary Gland Hypertrophy Virus (SGHV. Field-captured tsetse can harbor these symbionts as well as environmentally acquired commensal bacteria. This microbial community influences several aspects of tsetse’s physiology, including nutrition, fecundity and vector competence. This review provides a detailed description of tsetse’s microbiome, and describes the physiology underlying host-microbe, and microbe-microbe, interactions that occur in this fly.

  20. Multiculturalismo, interculturalismo y autonomía

    Directory of Open Access Journals (Sweden)

    Edwin Cruz Rodríguez


    Full Text Available Este artículo examina dos enfoques teóri- cos sobre la autonomía: el multiculturalis- mo liberal y el interculturalismo latinoa- mericano. El argumento principal es que el enfoque intercultural es idóneo para fun- damentar la autonomía que el multicultu- ralismo porque tiene un mayor alcance metodológico y sus horizontes normativos son más amplios. En primer lugar, se exa- minan las críticas del interculturalismo al multiculturalismo liberal de Kymlicka. Se- guidamente, se estudian sus concepciones de la autonomía.

  1. PHM Enabled Autonomous Propellant Loading Operations (United States)

    Walker, Mark; Figueroa, Fernando


    The utility of Prognostics and Health Management (PHM) software capability applied to Autonomous Operations (AO) remains an active research area within aerospace applications. The ability to gain insight into which assets and subsystems are functioning properly, along with the derivation of confident predictions concerning future ability, reliability, and availability, are important enablers for making sound mission planning decisions. When coupled with software that fully supports mission planning and execution, an integrated solution can be developed that leverages state assessment and estimation for the purposes of delivering autonomous operations. The authors have been applying this integrated, model-based approach to the autonomous loading of cryogenic spacecraft propellants at Kennedy Space Center.

  2. Enhanced mission performance from autonomous instrument guidance

    DEFF Research Database (Denmark)

    Jørgensen, John Leif; Jørgensen, Peter Siegbjørn; Betto, Maurizio;


    examples of such autonomous space instrumentation. With its full autonomy, this star tracker is capable of providing, in real-time, the absolute orientation with respect to the celestial reference frame with an accuracy of a few arc seconds. This high accuracy along with the robust operations, low weight...... acquisition and pointing (PROBA). Here three applications of the mu ASC as an autonomous onboard precision guide for precision vector instrumentation are presented. These are autonomous onboard antenna guidance, telescope guidance and tracking and high accuracy and wide range laser rangers....

  3. 76 FR 26654 - Movement of Hass Avocados From Areas Where Mediterranean Fruit Fly or South American Fruit Fly Exist (United States)


    ... Avocados From Areas Where Mediterranean Fruit Fly or South American Fruit Fly Exist AGENCY: Animal and... from Mediterranean fruit fly quarantined areas in the United States with a certificate if the fruit is... quarantine regulations to remove trapping requirements for Mediterranean fruit fly for Hass avocados...

  4. 76 FR 18419 - Movement of Hass Avocados From Areas Where Mediterranean Fruit Fly or South American Fruit Fly Exist (United States)


    ... Movement of Hass Avocados From Areas Where Mediterranean Fruit Fly or South American Fruit Fly Exist AGENCY... Mediterranean fruit fly quarantined areas in the United States with a certificate if the fruit is safeguarded... quarantine regulations to remove trapping requirements for Mediterranean fruit fly for Hass avocados......

  5. 76 FR 43804 - Movement of Hass Avocados From Areas Where Mediterranean Fruit Fly or South American Fruit Fly Exist (United States)


    ... Avocados From Areas Where Mediterranean Fruit Fly or South American Fruit Fly Exist AGENCY: Animal and... Mediterranean fruit fly quarantined areas in the United States with a certificate if the fruit is safeguarded... regulations to remove trapping requirements for Mediterranean fruit fly for Hass avocados imported from...

  6. As and Se interactions with fly ashes

    Directory of Open Access Journals (Sweden)

    M. Díaz-Somoano


    Full Text Available Arsenic and selenium are toxic elements present incoal in trace concentrations that may be emitted tothe environment during coal conversion processes.However, it is possible to retain volatile arsenic andselenium compounds in the fly ashes originated bythe process, the proportions retained depending onthe characteristics of the ashes and processconditions. This work is focused on the capture ofthese elements in fly ashes in simulated coalcombustion and gasification atmospheres inlaboratory scale reactors.

  7. Settling characteristics of some Indian fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Jain, M.K.; Sastry, B.S. [Indian Institute of Technology, Kharapur (India). Dept. of Mining Engineering


    The paper examines the aspects of the solid liquid separation (settling characteristics) of some of the fly ash obtained from coal-fired power plants in India. The application of a coagulating or flocculating agent (polymer) to improve the two properties as indicated is a typical industrial practice. The sources for this study comprise of fly ash, pond ash, and bottom ash and the settling characteristics are studied in conjunction with the flocculating agent polyacrylamide. 4 refs., 4 figs., 3 tabs.

  8. My Friendship with the Flying Tigers

    Institute of Scientific and Technical Information of China (English)

    Jiang; Yingshan


    "I believe I owe a debt to the Chinese people...It’s so huge there’s no way I can pay it back."This is what Flying Tigers pilot Glen Beneda said to his family time and again.I have been working in the CPAFFC for over 10 years now,and my feelings for the Flying Tigers have deepened over time.I had heard of its

  9. Development of a Tethered Formation Flight Testbed for ISS Project (United States)

    National Aeronautics and Space Administration — The development of a testbed for the development and demonstration of technologies needed by tethered formation flying satellites is proposed. Such a testbed would...

  10. Real Time Control Software for Electromagnetic Formation Flight Project (United States)

    National Aeronautics and Space Administration — As the focus of space system architectures changes from single, to multiple, and eventually to many spacecraft flying in formation, a greater demand on total...

  11. Square tracking sensor for autonomous helicopter hover stabilization (United States)

    Oertel, Carl-Henrik


    Sensors for synthetic vision are needed to extend the mission profiles of helicopters. A special task for various applications is the autonomous position hold of a helicopter above a ground fixed or moving target. As a proof of concept for a general synthetic vision solution a restricted machine vision system, which is capable of locating and tracking a special target, was developed by the Institute of Flight Mechanics of Deutsche Forschungsanstalt fur Luft- und Raumfahrt e.V. (i.e., German Aerospace Research Establishment). This sensor, which is specialized to detect and track a square, was integrated in the fly-by-wire helicopter ATTHeS (i.e., Advanced Technology Testing Helicopter System). An existing model following controller for the forward flight condition was adapted for the hover and low speed requirements of the flight vehicle. The special target, a black square with a length of one meter, was mounted on top of a car. Flight tests demonstrated the automatic stabilization of the helicopter above the moving car by synthetic vision.

  12. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control (United States)

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.


    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  13. Relativistic Tennis Using Flying Mirror (United States)

    Pirozhkov, A. S.; Kando, M.; Esirkepov, T. Zh.; Ma, J.; Fukuda, Y.; Chen, L.-M.; Daito, I.; Ogura, K.; Homma, T.; Hayashi, Y.; Kotaki, H.; Sagisaka, A.; Mori, M.; Koga, J. K.; Kawachi, T.; Daido, H.; Bulanov, S. V.; Kimura, T.; Kato, Y.; Tajima, T.


    Upon reflection from a relativistic mirror, the electromagnetic pulse frequency is upshifted and the duration is shortened by the factor proportional to the relativistic gamma-factor squared due to the double Doppler effect. We present the results of the proof-of-principle experiment for frequency upshifting of the laser pulse reflected from the relativistic "flying mirror", which is a wake wave near the breaking threshold created by a strong driver pulse propagating in underdense plasma. Experimentally, the wake wave is created by a 2 TW, 76 fs Ti:S laser pulse from the JLITE-X laser system in helium plasma with the electron density of ≈4-6×1019 cm-3. The reflected signal is observed with a grazing-incidence spectrograph in 24 shots. The wavelength of the reflected radiation ranges from 7 to 14 nm, the corresponding frequency upshifting factors are ˜55-115, and the gamma-factors are y = 4-6. The reflected signal contains at least 3×107 photons/sr. This effect can be used to generate coherent high-frequency ultrashort pulses that inherit temporal shape and polarization from the original (low-frequency) ones. Apart from this, the reflected radiation contains important information about the wake wave itself, e.g. location, size, phase velocity, etc.

  14. Intrinsic Membrane Targeting of the Flagellar Export ATPase FliI: Interaction with Acidic Phospholipids and FliH


    Auvray, Frédéric; Ozin, Amanda J.; Claret, Laurent; Hughes, Colin


    The specialised ATPase FliI is central to export of flagellar axial protein subunits during flagellum assembly. We establish the normal cellular location of FliI and its regulatory accessory protein FliH in motile Salmonella typhimurium, and ascertain the regions involved in FliH2/FliI heterotrimerisation. Both FliI and FliH localised to the cytoplasmic membrane in the presence and in the absence of proteins making up the flagellar export machinery and basal body. Membrane association was tig...

  15. Autonomic Dysfunction in Patients with Mild to Moderate Alzheimer's Disease

    DEFF Research Database (Denmark)

    Jensen-Dahm, Christina; Waldemar, Gunhild; Staehelin Jensen, Troels


    BACKGROUND: Autonomic function has received little attention in Alzheimer's disease (AD). AD pathology has an impact on brain regions which are important for central autonomic control, but it is unclear if AD is associated with disturbance of autonomic function. OBJECTIVE: To investigate autonomic...

  16. Boundedness of Formation Configuration for Nonlinear Three-body Dynamics

    Institute of Scientific and Technical Information of China (English)

    LI Peng; SONG Yongduan


    The configuration boundedness of the three-body model dynamics is studied for Sun-Earth formation flying missions. The three-body formation flying model is built up with considering the lunar gravitational acceleration and solar radiation pressure. Because traditional linearized dynamics based method has relatively lower accuracy, a modified nonlinear formation configuration analysis method is proposed in this paper. Comparative studies are carried out from three aspects, i.e., natural formation configuration with arbitrary departure time, initialization time and formation configuration boundedness, and specific initialization time for bounded formation configuration. Simulations demonstrate the differences between the two schemes,and indicate that the nonlinear dynamic method reduces the error caused by the model linearization and disturbance approximation, and thus provides higher accuracy for boundedness analysis, which is of value to initial parameters selection for natural three-body formation flying.

  17. Spatial and temporal distributions of phlebotomine sand flies (Diptera: Psychodidae), vectors of leishmaniasis, in Iran. (United States)

    Karimi, Ameneh; Hanafi-Bojd, Ahmad Ali; Yaghoobi-Ershadi, Mohammad Reza; Akhavan, Amir Ahmad; Ghezelbash, Zahra


    Leishmaniasis is a major vector-borne disease and health problem in Iran. Studies on sand flies, as the vectors of the disease, began in the Northern and Western parts of the country in 1930 and have been continued up to now. Concerning many published information in the field of sand flies, providing a digital database for the country will help the public health authorities to make more correct and prompt decisions for planning leishmaniasis control programs as well as modeling and forecasting of transmission potential across the country. All published data on phlebotomine sand flies of Iran were collected. A database was then designed in Excel format, including all available information regarding sand flies. The valid data were transferred to ArcGIS9.3 to prepare the first spatial database of sand flies of Iran. The IrSandflybase includes 131 papers, 2 abstracts and 71 PhD/MSc theses, reporting studies conducted during 1930-2012. This database contains different available data covering all aspects of ecology and biology of 50 sand fly species in two genera of Phlebotomus and Sergentomyia in the country. The temporal activity of sand flies is reported 9 months in warm regions of the southern part, while it may reduce to 7-8 months in central plateau or 4-5 months in cold areas of the northwest. Occasional studies reported rare species from the borderlines of Iran. It seems that changing the climate due to global warming may affect the spatial distribution of different species and expand it into the country, the issue that can be followed by an updated database.

  18. Chemical associations and mobilization of heavy metals in fly ash from municipal solid waste incineration. (United States)

    Weibel, Gisela; Eggenberger, Urs; Schlumberger, Stefan; Mäder, Urs K


    This study focusses on chemical and mineralogical characterization of fly ash and leached filter cake and on the determination of parameters influencing metal mobilization by leaching. Three different leaching processes of fly ash from municipal solid waste incineration (MSWI) plants in Switzerland comprise neutral, acidic and optimized acidic (+ oxidizing agent) fly ash leaching have been investigated. Fly ash is characterized by refractory particles (Al-foil, unburnt carbon, quartz, feldspar) and newly formed high-temperature phases (glass, gehlenite, wollastonite) surrounded by characteristic dust rims. Metals are carried along with the flue gas (Fe-oxides, brass) and are enriched in mineral aggregates (quartz, feldspar, wollastonite, glass) or vaporized and condensed as chlorides or sulphates. Parameters controlling the mobilization of neutral and acidic fly ash leaching are pH and redox conditions, liquid to solid ratio, extraction time and temperature. Almost no depletion for Zn, Pb, Cu and Cd is achieved by performing neutral leaching. Acidic fly ash leaching results in depletion factors of 40% for Zn, 53% for Cd, 8% for Pb and 6% for Cu. The extraction of Pb and Cu are mainly limited due to a cementation process and the formation of a PbCu(0)-alloy-phase and to a minor degree due to secondary precipitation (PbCl2). The addition of hydrogen peroxide during acidic fly ash leaching (optimized acidic leaching) prevents this reduction through oxidation of metallic components and thus significantly higher depletion factors for Pb (57%), Cu (30%) and Cd (92%) are achieved. The elevated metal depletion using acidic leaching in combination with hydrogen peroxide justifies the extra effort not only by reduced metal loads to the environment but also by reduced deposition costs.

  19. Study on Reactivity of Circulating Fluidized Bed Combustion Fly Ashes in the Presence of Water

    Directory of Open Access Journals (Sweden)

    Salain I.M.A.K.


    Full Text Available A study on reactivity of four different Circulating Fluidized Bed Combustion (CFBC fly ashes has been realized in the presence of water. Paste of each ash was prepared and analyzed for its setting time, expansion and strength. The products of hydration, and their evolutions over a period of time were identified by X-ray diffraction and differential thermal analysis. The results of this study show that the reactivity of the CFBC fly ashes is strongly related to their chemical composition, essentially to their quantity of silica, alumina, lime and sulfate, which promote principally the formation of ettringite, gypsum and C-S-H. It is further noted that the intensity and the proportion of these phases determine the hydration behavior of the CFBC fly ashes.

  20. Strength Studies of Dadri Fly Ash Modified with Lime Sludge – A Composite Material

    Directory of Open Access Journals (Sweden)

    Vaishali Sahu


    Full Text Available The aim of the present work is to prepare a new type of fly ash–lime sludge composite totally composed with industrial by-products which can be utilized as road construction material. The lime sludge content was varied from 10% to 50% (at an interval of 10% and the various composites were tested for unconfined compressive strength after 7 and 28 days curing period. The mix formula of this composite was optimized based on maximum strength and equal utilization of both the by-products. The composite with optimal mix formula (fly ash/lime sludge =1:1 results in highest strength. This paper outlines the characteristics of fly ash and lime sludge, method of preparation of compaction specimen and unconfined compression test specimen, testing procedure and salient results thereof. The strength formation mechanism of this composite is discussed. This composite can be further engineered as road construction material with competitive properties.

  1. Fly ash porous material using geopolymerization process for high temperature exposure. (United States)

    Abdullah, Mohd Mustafa Al Bakri; Jamaludin, Liyana; Hussin, Kamarudin; Bnhussain, Mohamed; Ghazali, Che Mohd Ruzaidi; Ahmad, Mohd Izzat


    This paper presents the results of a study on the effect of temperature on geopolymers manufactured using pozzolanic materials (fly ash). In this paper, we report on our investigation of the performance of porous geopolymers made with fly ash after exposure to temperatures from 600 °C up to 1000 °C. The research methodology consisted of pozzolanic materials (fly ash) synthesized with a mixture of sodium hydroxide and sodium silicate solution as an alkaline activator. Foaming agent solution was added to geopolymer paste. The geopolymer paste samples were cured at 60 °C for one day and the geopolymers samples were sintered from 600 °C to 1000 °C to evaluate strength loss due to thermal damage. We also studied their phase formation and microstructure. The heated geopolymers samples were tested by compressive strength after three days. The results showed that the porous geopolymers exhibited strength increases after temperature exposure.

  2. The role of the silica fly ash in sustainable waste management

    Directory of Open Access Journals (Sweden)

    Król Anna


    Full Text Available Mineral construction materials play an important role in waste management. They are often used for solidification of hazardous mineral waste.These processes involve common cement or binders that apart from cement contain other mineral additive, which indeed are post-process by-products from other industries. Among approved mineral additives there is silica fly ash from hard coal combustion in conventional power plants. Such fly ash used during solidification allow formation of stable and durable matrices of high immobilisation potential for heavy metals.The paper presents analysis of effect of addition of fly ash on solidification process of galvanic sewage sludge in comparison to matrices prepared using Portland cement.

  3. Analytical solution of perturbed relative motion: an application of satellite formations to geodesy (United States)

    Wnuk, Edwin

    In the upcoming years, several space missions will be operated using a number of spacecraft flying in formation. Clusters of spacecraft with a carefully designed orbits and optimal formation geometry enable a wide variety of applications ranging from remote sensing to astronomy, geodesy and basic physics. Many of the applications require precise relative navigation and autonomous orbit control of satellites moving in a formation. For many missions a centimeter level of orbit control accuracy is required. The GRACE mission, since its launch in 2002, has been improving the Earth's gravity field model to a very high level of accuracy. This mission is a formation flying one consisting of two satellites moving in coplanar orbits and provides range and range-rate measurements between the satellites in the along-track direction. Future geodetic missions probably will employ alternative architectures using additional satellites and/or performing out-of-plane motion, e.g cartwheel orbits. The paper presents an analytical model of a satellite formation motion that enables propagation of the relative spacecraft motion. The model is based on the analytical theory of satellite relative motion that was presented in the previous our papers (Wnuk and Golebiewska, 2005, 2006). This theory takes into account the influence of the following gravitational perturbation effects: 1) zonal and tesseral harmonic geopotential coefficients up to arbitrary degree and order, 2) Lunar gravity, 3) Sun gravity. Formulas for differential perturbations were derived with any restriction concerning a plane of satellite orbits. They can be applied in both: in plane and out of plane cases. Using this propagator we calculated relative orbits and future relative satellite positions for different types of formations: in plane, out of plane, cartwheel and others. We analyzed the influence of particular parts of perturbation effects and estimated the accuracy of predicted relative spacecrafts positions

  4. [Correlation of Persistent Free Radicals, PCDD/Fs and Metals in Waste Incineration Fly Ash]. (United States)

    Wang, Tian-jiao; Chen, Tong; Zhan, Ming-xiu; Guo, Ying; Li, Xiao-dong


    Environmentally persistent free radicals (EPFRs) are relatively highly stable and found in the formation of polychlorinated dibenzo-p-dioxins and dibenzofurans (PCDD/Fs). Recent studies have concentrated on model dioxin formation reactions and there are few studies on actual waste incineration fly ash. In order to study EPFRs and the correlation with dioxins and heavy metals in waste incineration fly ash, the spins of EPFRs, concentration of PCDD/Fs and metals in samples from 6 different waste incinerators were detected. The medical waste incineration fly ash from Tianjin, municipal solid waste incineration fly ash from Jiangxi Province, black carbon and slag from municipal solid waste incinerator in Lanxi, Zhejiang Province, all contained EPFRs. Above all the signal in Tianjin sample was the strongest. Hydroxyl radicals, carbon-center radicals and semiquinone radicals were detected. Compared with other samples, Jiangxi fly ash had the highest toxic equivalent quantity (TEQ) of dioxins, up to 7.229 4 ng · g⁻¹. However, the dioxin concentration in the Tianjin sample containing the strongest EPFR signals was only 0.092 8 ng · g⁻¹. There was perhaps little direct numeric link between EPFRs and PCDD/Fs. But the spins of EPFRs in samples presented an increasing trend as the metal contents increased, especially with Al, Fe, Zn. The signal strength of radicals was purposed to be related to the metal contents. The concentration of Zn (0.813 7% ) in the Tianjin sample was the highest and this sample contained much more spins of oxygen-center radicals. We could presume the metal Zn had a greater effect on the formation of EPFRs, and was easier to induce the formation of radicals with a longer half-life period.

  5. Autonomic contributions to empathy: evidence from patients with primary autonomic failure. (United States)

    Chauhan, Bina; Mathias, Christopher J; Critchley, Hugo D


    Empathy for the emotions of others may require simulatory engagement of corresponding autonomic arousal states. We tested the hypothesis that disruption of autonomic control impairs the ability to empathize emotionally with others. Fifteen patients with primary autonomic failure showed attenuated scores on the Mehrabian Balanced Emotional Empathy Scale (BEES), compared to both younger and older controls. This effect was not accounted for by age, gender, mood state or functional disability. These early observations provide preliminary evidence for a direct contribution of autonomic responsivity to the 'higher-order' social cognitive process of empathy, and may inform the dynamics of supportive care.

  6. Autonomic html interface generator for web applications

    CERN Document Server

    Bassil, Youssef; 10.5121/ijwest.2012.3104


    Recent advances in computing systems have led to a new digital era in which every area of life is nearly interrelated with information technology. However, with the trend towards large-scale IT systems, a new challenge has emerged. The complexity of IT systems is becoming an obstacle that hampers the manageability, operability, and maintainability of modern computing infrastructures. Autonomic computing popped up to provide an answer to these ever-growing pitfalls. Fundamentally, autonomic systems are self-configuring, self-healing, self-optimizing, and self-protecting; hence, they can automate all complex IT processes without human intervention. This paper proposes an autonomic HTML web-interface generator based on XML Schema and Style Sheet specifications for self-configuring graphical user interfaces of web applications. The goal of this autonomic generator is to automate the process of customizing GUI web-interfaces according to the ever-changing business rules, policies, and operating environment with th...

  7. Rover: Autonomous concepts for Mars exploration (United States)

    Baiget, A.; Castets, B.; Chochon, H.; Hayard, M.; Lamarre, H.; Lamothe, A.


    The development of a mobile, autonomous vehicle that will be launched towards an unknown planet is considered. The rover significant constraints are: Ariane 5 compatibility, Earth/Mars transfer capability, 1000 km autonomous moving in Mars environment, on board localization, and maximum science capability. Two different types of subsystem were considered: classical subsystems (mechanical and mechanisms, thermal, telecommunications, power, onboard data processing) and robotics subsystem, (perception/navigation, autonomous displacement generation, autonomous localization). The needs of each subsystem were studied in terms of energy and data handling capability, in order to choose an on board architecture which best use the available capability, by means of specialized parts. A compromise must always be done between every subsystem in order to obtain the real need with respect to the goal, for example: between perception/navigation and the motion capability. A compromise must also be found between mechanical assembly and calibration need, which is a real problem.

  8. Acupuncture Effect and Central Autonomic Regulation

    Directory of Open Access Journals (Sweden)

    Qian-Qian Li


    Full Text Available Acupuncture is a therapeutic technique and part of traditional Chinese medicine (TCM. Acupuncture has clinical efficacy on various autonomic nerve-related disorders, such as cardiovascular diseases, epilepsy, anxiety and nervousness, circadian rhythm disorders, polycystic ovary syndrome (PCOS and subfertility. An increasing number of studies have demonstrated that acupuncture can control autonomic nerve system (ANS functions including blood pressure, pupil size, skin conductance, skin temperature, muscle sympathetic nerve activities, heart rate and/or pulse rate, and heart rate variability. Emerging evidence indicates that acupuncture treatment not only activates distinct brain regions in different kinds of diseases caused by imbalance between the sympathetic and parasympathetic activities, but also modulates adaptive neurotransmitter in related brain regions to alleviate autonomic response. This review focused on the central mechanism of acupuncture in modulating various autonomic responses, which might provide neurobiological foundations for acupuncture effects.

  9. Cranial Autonomic Symptoms in Pediatric Migraine

    Directory of Open Access Journals (Sweden)

    J Gordon Millichap


    Full Text Available Investigators at the University of California, San Francisco, examined the frequency of cranial autonomic symptoms in all pediatric and adolescent patients with migraine seen in 4 different clinical settings during July 2010 to June 2012.

  10. Tracked robot controllers for climbing obstacles autonomously (United States)

    Vincent, Isabelle


    Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

  11. A Primer on Autonomous Aerial Vehicle Design

    Directory of Open Access Journals (Sweden)

    Hugo H. G. Coppejans


    Full Text Available There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV, such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

  12. A Primer on Autonomous Aerial Vehicle Design. (United States)

    Coppejans, Hugo H G; Myburgh, Herman C


    There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

  13. Comparative anatomy of the autonomic nervous system. (United States)

    Nilsson, Stefan


    This short review aims to point out the general anatomical features of the autonomic nervous systems of non-mammalian vertebrates. In addition it attempts to outline the similarities and also the increased complexity of the autonomic nervous patterns from fish to tetrapods. With the possible exception of the cyclostomes, perhaps the most striking feature of the vertebrate autonomic nervous system is the similarity between the vertebrate classes. An evolution of the complexity of the system can be seen, with the segmental ganglia of elasmobranchs incompletely connected longitudinally, while well developed paired sympathetic chains are present in teleosts and the tetrapods. In some groups the sympathetic chains may be reduced (dipnoans and caecilians), and have yet to be properly described in snakes. Cranial autonomic pathways are present in the oculomotor (III) and vagus (X) nerves of gnathostome fish and the tetrapods, and with the evolution of salivary and lachrymal glands in the tetrapods, also in the facial (VII) and glossopharyngeal (IX) nerves.

  14. AGATE: Autonomous Go and Touch Exploration Project (United States)

    National Aeronautics and Space Administration — The innovation (AGATE, for Autonomous Go And Touch Exploration) will enable single-sol "go and touch" instrument placement from distances of up to five meters for...

  15. Autonomic Nervous System Dysfunction in Parkinson's Disease. (United States)

    Zesiewicz, Theresa A.; Baker, Matthew J.; Wahba, Mervat; Hauser, Robert A.


    Autonomic nervous system (ANS) dysfunction is common in Parkinson's disease (PD), affects 70% to 80% of patients, and causes significant morbidity and discomfort. Autonomic nervous system dysfunction symptoms in PD include sexual dysfunction, swallowing and gastrointestinal disorders, bowel and bladder abnormalities, sleep disturbances, and derangements of cardiovascular regulation, particularly, orthostatic hypotension. Autonomic nervous system dysfunction in PD may be caused by an underlying degenerative process that affects the autonomic ganglia, brainstem nuclei, and hypothalamic nuclei. Anti-parkinsonian medications can cause or worsen symptoms of ANS dysfunction. The care of a PD patient with ANS dysfunction relies on its recognition and directed treatment, including coordinated care between the neurologist and appropriate subspecialist. Pharmacotherapy may be useful to treat orthostasis, gastrointestinal, urinary, and sexual dysfunction.

  16. Flagellin FliC Phosphorylation Affects Type 2 Protease Secretion and Biofilm Dispersal in Pseudomonas aeruginosa PAO1 (United States)

    Suriyanarayanan, Tanujaa; Periasamy, Saravanan; Lin, Miao-Hsia; Ishihama, Yasushi; Swarup, Sanjay


    Protein phosphorylation has a major role in controlling the life-cycle and infection stages of bacteria. Proteome-wide occurrence of S/T/Y phosphorylation has been reported for many prokaryotic systems. Previously, we reported the phosphoproteome of Pseudomonas aeruginosa and Pseudomonas putida. In this study, we show the role of S/T phosphorylation of one motility protein, FliC, in regulating multiple surface-associated phenomena of P. aeruginosa PAO1. This is the first report of occurrence of phosphorylation in the flagellar protein, flagellin FliC in its highly conserved N-terminal NDO domain across several Gram negative bacteria. This phosphorylation is likely a well-regulated phenomenon as it is growth phase dependent in planktonic cells. The absence of phosphorylation in the conserved T27 and S28 residues of FliC, interestingly, did not affect swimming motility, but affected the secretome of type 2 secretion system (T2SS) and biofilm formation of PAO1. FliC phosphomutants had increased levels and activities of type 2 secretome proteins. The secretion efficiency of T2SS machinery is associated with flagellin phosphorylation. FliC phosphomutants also formed reduced biofilms at 24 h under static conditions and had delayed biofilm dispersal under dynamic flow conditions, respectively. The levels of type 2 secretome and biofilm formation under static conditions had an inverse correlation. Hence, increase in type 2 secretome levels was accompanied by reduced biofilm formation in the FliC phosphomutants. As T2SS is involved in nutrient acquisition and biofilm dispersal during survival and spread of P. aeruginosa, we propose that FliC phosphorylation has a role in ecological adaptation of this opportunistic environmental pathogen. Altogether, we found a system of phosphorylation that affects key surface related processes such as proteases secretion by T2SS, biofilm formation and dispersal. PMID:27701473

  17. Direct regulation of BCL-2 by FLI-1 is involved in the survival of FLI-1-transformed erythroblasts


    Lesault, Isabelle; Tran Quang, Christine; Frampton, Jon; Ghysdael, Jacques


    Rearrangement of the FLI-1 locus with ensuing overexpression of FLI-1 is an early event in Friend murine leukemia virus-induced disease. When overexpressed in primary erythroblasts, FLI-1 blocks erythropoeitin (Epo)-induced terminal differentiation and inhibits apoptosis normally induced in response to Epo withdrawal. We show here that the survival-inducing property of FLI-1 is associated with increased transcription of BCL-2. We further show that FLI-1 binds BCL-2 promoter sequences in trans...

  18. Leaching characteristics of toxic constituents from coal fly ash mixed soils under the influence of pH

    Energy Technology Data Exchange (ETDEWEB)

    Komonweeraket, Kanokwan [Department of Civil and Environmental Engineering, University of Wisconsin, Madison, WI 53706 (United States); Cetin, Bora, E-mail: [College of Engineering, University of Georgia, Athens, GA 30602 (United States); Benson, Craig H., E-mail: [Department of Civil and Environmental Engineering, University of Wisconsin, Madison, WI 53706 (United States); Aydilek, Ahmet H., E-mail: [Department of Civil and Environmental Engineering, University of Maryland, College Park, MD 20742 (United States); Edil, Tuncer B., E-mail: [Department of Civil and Environmental Engineering, University of Wisconsin, Madison, WI 53706 (United States)


    Highlights: • The impact of pH on the leaching of elements and metals from fly ash mixed soils. • Generally Ca, Cd, Mg, and Sr follows a cationic leaching pattern. • The leaching of As and Se shows an oxyanionic leaching pattern. • The leaching behavior of elements does not change based on material type. • Different fly ash types show different abilities in immobilizing trace elements. - Abstract: Leaching behaviors of Arsenic (As), Barium (Ba), Calcium (Ca), Cadmium (Cd), Magnesium (Mg), Selenium (Se), and Strontium (Sr) from soil alone, coal fly ash alone, and soil-coal fly ash mixtures, were studied at a pH range of 2–14 via pH-dependent leaching tests. Seven different types of soils and coal fly ashes were tested. Results of this study indicated that Ca, Cd, Mg, and Sr showed cationic leaching pattern while As and Se generally follows an oxyanionic leaching pattern. On the other hand, leaching of Ba presented amphoteric-like leaching pattern but less pH-dependent. In spite of different types and composition of soil and coal fly ash investigated, the study reveals the similarity in leaching behavior as a function of pH for a given element from soil, coal fly ash, and soil-coal fly ash mixtures. The similarity is most likely due to similar controlling mechanisms (e.g., solubility, sorption, and solid-solution formation) and similar controlling factors (e.g., leachate pH and redox conditions). This offers the opportunity to transfer knowledge of coal fly ash that has been extensively characterized and studied to soil stabilized with coal fly ash. It is speculated that unburned carbon in off-specification coal fly ashes may provide sorption sites for Cd resulting in a reduction in concentration of these elements in leachate from soil-coal fly ash mixture. Class C fly ash provides sufficient CaO to initiate the pozzolanic reaction yielding hydrated cement products that oxyanions, including As and Se, can be incorporated into.

  19. Visual navigation for an autonomous mobile vehicle


    Peterson, Kevin Robert


    Approved for public release; distribution is unlimited Image understanding for a mobile robotic vehicle is an important and complex task for ensuring safe navigation and extended autonomous operations. The goal of this work is to implement a working vision-based navigation control mechanism within a known environment onboard the autonomous mobile vehicle Yamabico-II. Although installing a working hardware system was not accomplished, the image processing, model description, pattern match...

  20. Autonomic Circulatory Control during Pregnancy in Humans



    Pregnancy is associated with dramatic alterations in maternal hemodynamics, which begin early (i.e., following conception, 4 to 5 weeks of gestation) and are accompanied by changing levels of various pressor hormones and vasoactive metabolites. It has been proposed that these changes occur through autonomic control mechanisms, but the actual role of the autonomic nervous system in pregnancy is poorly understood. New research has shed more light on the links between pregnancy and cardiovascula...

  1. Intelligent control system of autonomous objects (United States)

    Engel, E. A.; Kovalev, I. V.; Engel, N. E.; Brezitskaya, V. V.; Prohorovich, G. A.


    This paper presents an intelligent control system of autonomous objects as framework. The intelligent control framework includes two different layers: a reflexive layer and a reactive layer. The proposed multiagent adaptive fuzzy neuronet combines low-level reaction with high-level reasoning in an intelligent control framework. The formed as the multiagent adaptive fuzzy neuronet the intelligent control system on the base of autonomous object’s state, creates the effective control signal under random perturbations.

  2. Blood pressure regulation in diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J


    experimental situations insufficient contraction of resistance vessels has been demonstrated. The vasoconstrictor defects demonstrated are of a magnitude sufficient to account for the prevailing hypotension. Furthermore, during exercise cardiac output is low in patients with autonomic neuropathy, a finding...... blood pressure fall ensues in patients with autonomic neuropathy, probably due to excessive muscular vasodilation. It is unresolved why blood pressure regulation is intact during hypoglycemia and severely impaired--at similar catecholamine concentrations--during epinephrine infusions....

  3. Influence of sulfate on cement mixtures containing fly ash or blast-furnace slag

    Energy Technology Data Exchange (ETDEWEB)

    Bhanumathidas, N.; Kalidas, N. [Inst. for Solid Waste Research and Ecological Balance, Visakhapatnam (India)


    The development of FaL-G, a cementitious mixture of fly ash, lime and gypsum was initiated by the desire to improve the early strength of blended portland cement. Fly ash and granulated blast-furnace slag both contain reactive alumina. The strength of some fly ash-lime mixtures, in the presence of gypsum, can be enhanced 3 to 6 times at all ages. This study showed that high-volume fly ash blended portland cements also increase in strength with the addition of gypsum or anhydrite. Ground granulated blast-furnace slag behaves in a similar manner to blended portland cement. The enhanced strength is due to the formation of calcium sulphoaluminate hydrates. This study shows that it is possible to use large volumes of fly ash and slag to conserve on cost-intensive and energy-intensive clinker. Bricks and blocks made according to FaL-G technology are replacing fired clay bricks used in masonry construction. This research is of particular interest for the conservation of agricultural soils, minerals and energy. The study also shows that it is possible to convert major industrial waste into useful construction products. 7 refs., 3 tabs., 1 fig.

  4. Development of autonomous triggering instrumentation (United States)

    Watkins, Steve E.; Swift, Theresa M.; Fonda, James W.


    Triggering instrumentation for autonomous monitoring of load-induced strain is described for economical, fast bridge inspection. The development addresses one aspect for the management of transportation infrastructure - bridge monitoring and inspection. The objectives are to provide quantitative performance information from a load test, to minimize the setup time at the bridge, and to minimize the closure time to traffic. Multiple or networked measurements can be made for a prescribed loading sequence. The proposed smart system consists of in-situ strain sensors, an embedded data acquisition module, and a measurement triggering system. A companion control unit is mounted on the truck serving as the load. As the truck moves to the proper position, the desired measurement is automatically relayed back to the control unit. In this work, the testing protocol is developed and the performance parameters for the triggering and data acquisition are measured. The test system uses a dedicated wireless sensor mote and an infrared positioning system. The electronic procedure offers improvements in available information and economics.

  5. Autonomous intelligent cruise control system (United States)

    Baret, Marc; Bomer, Thierry T.; Calesse, C.; Dudych, L.; L'Hoist, P.


    Autonomous intelligent cruise control (AICC) systems are not only controlling vehicles' speed but acting on the throttle and eventually on the brakes they could automatically maintain the relative speed and distance between two vehicles in the same lane. And more than just for comfort it appears that these new systems should improve the safety on highways. By applying a technique issued from the space research carried out by MATRA, a sensor based on a charge coupled device (CCD) was designed to acquire the reflected light on standard-mounted car reflectors of pulsed laser diodes emission. The CCD is working in a unique mode called flash during transfer (FDT) which allows identification of target patterns in severe optical environments. It provides high accuracy for distance and angular position of targets. The absence of moving mechanical parts ensures high reliability for this sensor. The large field of view and the high measurement rate give a global situation assessment and a short reaction time. Then, tracking and filtering algorithms have been developed in order to select the target, on which the equipped vehicle determines its safety distance and speed, taking into account its maneuvering and the behaviors of other vehicles.

  6. Semi-Autonomous Vehicle Project (United States)

    Stewart, Christopher


    The primary objective this summer is "evaluating standards for wireless architecture for the internet of things". The Internet of Things is the network of physical objects or "things" embedded with electronics, software, sensors and network connectivity which enables these objects to collect and exchange data and make decisions based on said data. This was accomplished by creating a semi-autonomous vehicle that takes advantage of multiple sensors, cameras, and onboard computers and combined them with a mesh network which enabled communication across large distances with little to no interruption. The mesh network took advantage of what is known as DTN - Disruption Tolerant Networking which according to NASA is the new communications protocol that is "the first step towards interplanetary internet." The use of DTN comes from the fact that it will store information if an interruption in communications is detected and even forward that information via other relays within range so that the data is not lost. This translates well into the project because as the car moves further away from whatever is sending it commands (in this case a joystick), the information can still be forwarded to the car with little to no loss of information thanks to the mesh nodes around the driving area.

  7. Mechanical Autonomous Stochastic Heat Engine (United States)

    Serra-Garcia, Marc; Foehr, André; Molerón, Miguel; Lydon, Joseph; Chong, Christopher; Daraio, Chiara


    Stochastic heat engines are devices that generate work from random thermal motion using a small number of highly fluctuating degrees of freedom. Proposals for such devices have existed for more than a century and include the Maxwell demon and the Feynman ratchet. Only recently have they been demonstrated experimentally, using, e.g., thermal cycles implemented in optical traps. However, recent experimental demonstrations of classical stochastic heat engines are nonautonomous, since they require an external control system that prescribes a heating and cooling cycle and consume more energy than they produce. We present a heat engine consisting of three coupled mechanical resonators (two ribbons and a cantilever) subject to a stochastic drive. The engine uses geometric nonlinearities in the resonating ribbons to autonomously convert a random excitation into a low-entropy, nonpassive oscillation of the cantilever. The engine presents the anomalous heat transport property of negative thermal conductivity, consisting in the ability to passively transfer energy from a cold reservoir to a hot reservoir.

  8. The Human Element and Autonomous Ships

    Directory of Open Access Journals (Sweden)

    Sauli Ahvenjärvi


    Full Text Available The autonomous ship technology has become a “hot” topic in the discussion about more efficient, environmentally friendly and safer sea transportation solutions. The time is becoming mature for the introduction of commercially sensible solutions for unmanned and fully autonomous cargo and passenger ships. Safety will be the most interesting and important aspect in this development. The utilization of the autonomous ship technology will have many effects on the safety, both positive and negative. It has been announced that the goal is to make the safety of an unmanned ship better that the safety of a manned ship. However, it must be understood that the human element will still be present when fully unmanned ships are being used. The shore-based control of a ship contains new safety aspects and an interesting question will be the interaction of manned and unmanned ships in the same traffic area. The autonomous ship technology should therefore be taken into account on the training of seafarers. Also it should not be forgotten that every single control algorithm and rule of the internal decision making logic of the autonomously navigating ship has been designed and coded by a human software engineer. Thus the human element is present also in this point of the lifetime navigation system of the autonomous ship.

  9. Advancing Autonomous Operations for Deep Space Vehicles (United States)

    Haddock, Angie T.; Stetson, Howard K.


    Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

  10. [Autonomic dysfunction syndrome and diabetic cardiac autonomic neuropathy in children with diabetes mellitus type I. The correction method]. (United States)

    Manukian, V Iu; Bolotova, N V; Aver'ianov, A P; Filina, N Iu; Raĭgorodskiĭ, Iu M


    We assessed the state of the autonomic nervous system in 90 children with diabetes mellitus type I. The autonomic dysfunction syndrome was found in 58,9% and diabetic cardiac autonomic neuropathy in 28,9% of patients. We revealed the high risk of the development of diabetic cardiac autonomic neuropathy in children with diabetes mellitus type I in the presence of the autonomic dysfunction syndrome. It has been shown that the early treatment of functional disturbances of the autonomic nervous system using transcranial magnetic stimulation is necessary to prevent the manifestation of diabetic cardiac autonomic neuropathy.

  11. Oral and Topical Toxicity of Fipronil to Melon Fly and Oriental Fruit Fly (Diptera: Tephritidae) (United States)

    BACKGROUND: The objective of this study was to develop basic oral and topical toxicity data for Fipronil in Solulys protein bait to wild melon fly, Bactrocera cucurbitae (Coquillett) and the oriental fruit fly, Bactrocera dorsalis (Hendel). RESULTS: For the oral study, both females and males were ...

  12. Expression of defensin paralogs across house fly life history: insights into fly-microbe interactions (United States)

    House flies have a life-long association with microbe-rich environments. Larvae directly ingest bacteria in decaying substrates utilizing them for nutritional purposes. Adult house flies ephemerally associate with microbes, ingesting them either by direct feeding or indirectly during grooming. The h...

  13. Vol en formation sans formation: contrôle et planification pour le vol en formation des avions sans pilote



    This thesis presents the study and the implementation of a system that manages autonomously the configuration of a formation of unmanned aerial vehicles, or UAVs. The purposes are to improve the safety and the efficiency of a group of military UAVs, and to fill the gap between mission planning layers and formation control layers. Formation flight is particularly suited for military applications in hostile environments, that require synchronizations on target arrivals or mutual support for jam...

  14. Social attraction mediated by fruit flies' microbiome. (United States)

    Venu, Isvarya; Durisko, Zachary; Xu, Jianping; Dukas, Reuven


    Larval and adult fruit flies are attracted to volatiles emanating from food substrates that have been occupied by larvae. We tested whether such volatiles are emitted by the larval gut bacteria by conducting tests under bacteria-free (axenic) conditions. We also tested attraction to two bacteria species, Lactobacillus brevis, which we cultured from larvae in our lab, and L. plantarum, a common constituent of fruit flies' microbiome in other laboratory populations and in wild fruit flies. Neither larvae nor adults showed attraction to axenic food that had been occupied by axenic larvae, but both showed the previously reported attraction to standard food that had been occupied by larvae with an intact microbiome. Larvae also showed significant attraction to volatiles from axenic food and larvae to which we added only either L. brevis or L. plantarum, and volatiles from L. brevis reared on its optimal growth medium. Controlled learning experiments indicated that larvae experienced with both standard and axenic used food do not perceive either as superior, while focal larvae experienced with simulated used food, which contains burrows, perceive it as superior to unused food. Our results suggest that flies rely on microbiome-derived volatiles for long-distance attraction to suitable food patches. Under natural settings, fruits often contain harmful fungi and bacteria, and both L. brevis and L. plantarum produce compounds that suppress the growth of some antagonistic fungi and bacteria. The larval microbiome volatiles may therefore lead prospective fruit flies towards substrates with a hospitable microbial environment.

  15. Investigation of gliding flight by flying fish (United States)

    Park, Hyungmin; Jeon, Woo-Pyung; Choi, Haecheon


    The most successful flight capability of fish is observed in the flying fish. Furthermore, despite the difference between two medium (air and water), the flying fish is well evolved to have an excellent gliding performance as well as fast swimming capability. In this study, flying fish's morphological adaptation to gliding flight is experimentally investigated using dry-mounted darkedged-wing flying fish, Cypselurus Hiraii. Specifically, we examine the effects of the pectoral and pelvic fins on the aerodynamic performance considering (i) both pectoral and pelvic fins, (ii) pectoral fins only, and (iii) body only with both fins folded. Varying the attack angle, we measure the lift, drag and pitching moment at the free-stream velocity of 12m/s for each case. Case (i) has higher lift-to-drag ratio (i.e. longer gliding distance) and more enhanced longitudinal static stability than case (ii). However, the lift coefficient is smaller for case (i) than for case (ii), indicating that the pelvic fins are not so beneficial for wing loading. The gliding performance of flying fish is compared with those of other fliers and is found to be similar to those of insects such as the butterfly and fruitfly.

  16. Characteristics of MSWI fly ash during vitrification

    Institute of Scientific and Technical Information of China (English)

    TIAN Shu-lei; WANG Qi; WANG Qun-hui; MA Hong-zhi


    The vitrification characteristics of municipal solid waste incinerator (MSWI) fly ash were investigated. Effects of temperature on the binding efficiency of heavy metals, the change of chemical compositions and the weight loss of fly ash in the range of 800 - 1350 ℃ were studied. Toxicity Characteristic Leaching Procedure (TCLP) of the United States was used to analyze the leaching characteristics of heavy metals in fly ash and molten slag. Results indicate that chemical compositions, the weight loss of fly ash and the binding efficiency of heavy metals in fly ash have a tremendous change in the range of 1150 - 1260 ℃. The percentage of CaO, SiO2and AI203 increases with the increasing temperature, whereas it is contrary for SO3 , K2O, Na20 and CI; especially when the temperature is 1260 ℃, the percentage of these four elements decreases sharply from 43.72%to 0. 71%. The weight loss occurs obviously in the range of 1150 - 1260 ℃. Heavy metals of Pb and Cd are almost vaporized above 1000 ℃. Cr is not volatile and its binding efficiency can reach 100% below 1000 ℃. Resuits of TCLP indicate that the heavy metal content of molten slag is beyond stipulated limit values.

  17. Autonomous and autonomic systems with applications to NASA intelligent spacecraft operations and exploration systems

    CERN Document Server

    Truszkowski, Walt; Rouff, Christopher; Karlin, Jay; Rash, James; Hinchey, Michael; Sterritt, Roy


    This book provides an in-depth discussion of autonomous and autonomic systems, their interdependencies, differences and similarities. Current and pending issues in these evermore increasingly important subjects are highlighted and discussed. Concepts, ideas and experiences are explored in relation to real-life NASA systems in spacecraft control and in the exploration domain.

  18. A Priori User Acceptance and the Perceived Driving Pleasure in Semi-autonomous and Autonomous Vehicles

    DEFF Research Database (Denmark)

    Bjørner, Thomas

    The aim of this minor pilot study is, from a sociological user perspective, to explore a priori user acceptance and the perceived driving pleasure in semi- autonomous and autonomous vehicles. The methods used were 13 in-depth interviews while having participants watch video examples within four...

  19. Residual Ash Formation during Suspension-Firing of Biomass

    DEFF Research Database (Denmark)

    Damø, Anne Juul; Jappe Frandsen, Flemming; Jensen, Peter Arendt


    Through 50+ years, high quality research has been conducted in order to characterize ash and deposit formation in utility boilers fired with coal, biomass and waste fractions. The basic mechanism of fly ash formation in suspension fired coal boilers is well described, documented and may even...... be modeled relatively precisely. Concerning fly ash formation from biomass or waste fractions, the situation is not nearly as good. Lots of data are available from campaigns where different ash fractions, including sometimes also in-situ ash, have been collected and analyzed chemically and for particle size...... distribution. Thus, there is a good flair of the chemistry of fly ash formed in plants fired with biomass or waste fractions, either alone, or in conjunction with coal. But data on dedicated studies of the physical size development of fly ash, are almost non-existing for biomasses and waste fractions...

  20. Phenolic acids as bioindicators of fly ash deposit revegetation

    Energy Technology Data Exchange (ETDEWEB)

    L. Djurdjevic; M. Mitrovic; P. Pavlovic; G. Gajic; O. Kostic [Institute for Biological Research ' Sinisa Stankovic,' Belgrade (Serbia and Montenegro). Department of Ecology


    The floristic composition, the abundance, and the cover of pioneer plant species of spontaneously formed plant communities and the content of total phenolics and phenolic acids, as humus constituents, of an ash deposit after 7 years of recultivation were studied. The restoration of both the soil and the vegetation on the ash deposits of the 'Nikola Tesla-A' thermoelectric power plant in Obrenovac (Serbia) is an extremely slow process. Unfavorable physical and chemical characteristics, the toxicity of fly ash, and extreme microclimatic conditions prevented the development of compact plant cover. The abundance and cover of plants increased from the central part of the deposit towards its edges. Festuca rubra L., Crepis setosa Hall., Erigeron canadensis L., Cirsium arvense (L.) Scop., Calamagrostis epigeios (L.) Roth., and Tamarix gallica L. were the most abundant species, thus giving the highest cover. Humus generated during the decomposition process of plant remains represents a completely new product absent in the ash as the starting material. The amount of total phenolics and phenolic acids in fly ash increased from the center of the deposit towards its edges in correlation with the increase in plant abundance and cover. The presence of phenolic acids indicates the ongoing process of humus formation in the ash, in which the most abundant pioneer plants of spontaneously formed plant communities play the main role. Phenolic compounds can serve as reliable bioindicators in an assessment of the success of the recultivation process of thermoelectric power plants' ash deposits.

  1. Some studies on the reaction between fly ash and lime

    Indian Academy of Sciences (India)

    A Basumajumdar; A K Das; N Bandyopadhyay; S Maitra


    The reaction between fly ash (FA) and lime is extensively exploited for the manufacture of building bricks, blocks and aggregates. To get a better idea of this reaction, FA from different sources were mixed in different ratios with lime and compacted. The compacts were treated both by ordinary water and hydrothermal curing to promote lime bearing hydrate bond formation e.g. CaO–SiO2–H2O (C–S–H), CaO–Al2O3–H2O (C–A–H) etc. The decrease in free lime content in these compacts was measured as a function of curing time and curing process. This drop in this content was correlated to the chemical composition of the fly ashes. The mathematical relationships between free lime remaining in the compacts after its maximum decrease in concentration and lime binding modulus (a ratio between the amount of added lime and the total amount of lime binding constituents present in FA) for both types of curing were developed. Further, the rate of decrease in free CaO content under both types of curing conditions was compared from kinetic study. From this study the orders of the reactions and rate constants were found out.

  2. Pigments of fly agaric (Amanita muscaria). (United States)

    Stintzing, Florian; Schliemann, Willibald


    The complex pigment pattern of fly agaric (Amanita muscaria) cap skins has been studied by LC-DAD and mass spectrometry. Among the betaxanthins the corresponding derivatives of serine, threonine, ethanolamine, alanine, Dopa, phenylalanine and tryptophan are reported for the first time to contribute to the pigment pattern of fly agarics. Betalamic acid, the chromophoric precursor of betaxanthins and betacyanins, muscaflavin and seco-dopas were also detected. Furthermore, the red-purple muscapurpurin and the red muscarubrin were tentatively assigned while further six betacyanin-like components could not be structurally allocated. Stability studies indicated a high susceptibility of pigment extracts to degradation which led to rapid colour loss thus rendering a complete characterization of betacyanin-like compounds impossible at present. Taking into account these difficulties the presented results may be a starting point for a comprehensive characterization of the pigment composition of fly agarics.

  3. Attracting the attention of a fly. (United States)

    Sareen, Preeti; Wolf, Reinhard; Heisenberg, Martin


    Organisms with complex visual systems rarely respond to just the sum of all visual stimuli impinging on their eyes. Often, they restrict their responses to stimuli in a temporarily selected region of the visual field (selective visual attention). Here, we investigate visual attention in the fly Drosophila during tethered flight at a torque meter. Flies can actively shift their attention; however, their attention can be guided to a certain location by external cues. Using visual cues, we can direct the attention of the fly to one or the other of the two visual half-fields. The cue can precede the test stimulus by several seconds and may also be spatially separated from the test by at least 20° and yet attract attention. This kind of external guidance of attention is found only in the lower visual field.

  4. FlyBase: improvements to the bibliography. (United States)

    Marygold, Steven J; Leyland, Paul C; Seal, Ruth L; Goodman, Joshua L; Thurmond, Jim; Strelets, Victor B; Wilson, Robert J


    An accurate, comprehensive, non-redundant and up-to-date bibliography is a crucial component of any Model Organism Database (MOD). Principally, the bibliography provides a set of references that are specific to the field served by the MOD. Moreover, it serves as a backbone to which all curated biological data can be attributed. Here, we describe the organization and main features of the bibliography in FlyBase (, the MOD for Drosophila melanogaster. We present an overview of the current content of the bibliography, the pipeline for identifying and adding new references, the presentation of data within Reference Reports and effective methods for searching and retrieving bibliographic data. We highlight recent improvements in these areas and describe the advantages of using the FlyBase bibliography over alternative literature resources. Although this article is focused on bibliographic data, many of the features and tools described are applicable to browsing and querying other datasets in FlyBase.

  5. Discriminating fever behavior in house flies.

    Directory of Open Access Journals (Sweden)

    Robert D Anderson

    Full Text Available Fever has generally been shown to benefit infected hosts. However, fever temperatures also carry costs. While endotherms are able to limit fever costs physiologically, the means by which behavioral thermoregulators constrain these costs are less understood. Here we investigated the behavioral fever response of house flies (Musca domestica L. challenged with different doses of the fungal entomopathogen, Beauveria bassiana. Infected flies invoked a behavioral fever selecting the hottest temperature early in the day and then moving to cooler temperatures as the day progressed. In addition, flies infected with a higher dose of fungus exhibited more intense fever responses. These variable patterns of fever are consistent with the observation that higher fever temperatures had greater impact on fungal growth. The results demonstrate the capacity of insects to modulate the degree and duration of the fever response depending on the severity of the pathogen challenge and in so doing, balance the costs and benefits of fever.

  6. Research on Partner-fly Infrared Decoys

    Institute of Scientific and Technical Information of China (English)

    HONG Yang; LI Yan-jun; WANG Qi


    With the rapid development of new generation of infrared-guided missiles, it is very difficult for the traditional point-source infrared decoys to confront them. Therefore it is important to research the jamming mechanism and tactical application of infrared decoys. Through the research on rocket-propelled infrared decoys, a movement model and a radiation pattern of partner-fly infrared decoy are established based on the jamming mechanism of infrared centroid effect, the aerodynamics principle as well as the aeronautical dynamics principle. A dynamic simulation seeking superiority is conducted for its firing range and direction, a tactical application method of partner-fly infrared decoy against infrared-guided missile is explored, and the technical conditions of partner-fly infrared decoys are determined.

  7. Autonomous Aerial Sensors for Wind Power Meteorology

    DEFF Research Database (Denmark)

    Giebel, Gregor; la Cour-Harbo, Anders; Bange, Jens


    This paper describes a new approach for measurements in wind power meteorology using small unmanned flying platforms. Large-scale wind farms, especially offshore, need an optimisation between installed wind power density and the losses in the wind farm due to wake effects between the turbines. Good...... built a lighter-than-air kite with a long tether and nano-synchronised sensors, Bergen University flies the SUMO, a pusher airplane of 580g total weight equipped with a 100Hz Pitot tube, Tübingen University in conjunction with the TU Braunschweig flies the Carolo, a 2m wide two prop model with a 5-hole...... concern - both the campaign at Høvsøre and the alternate location at Risø had to be cancelled for different reasons, both related to flying permits. There was one week of flying though at the Nøjsomheds Odde wind farm in Lolland, where we could compare the SUMO and balloon with a Lidar and data from...

  8. A Novel Method for Tracking Individuals of Fruit Fly Swarms Flying in a Laboratory Flight Arena. (United States)

    Cheng, Xi En; Qian, Zhi-Ming; Wang, Shuo Hong; Jiang, Nan; Guo, Aike; Chen, Yan Qiu


    The growing interest in studying social behaviours of swarming fruit flies, Drosophila melanogaster, has heightened the need for developing tools that provide quantitative motion data. To achieve such a goal, multi-camera three-dimensional tracking technology is the key experimental gateway. We have developed a novel tracking system for tracking hundreds of fruit flies flying in a confined cubic flight arena. In addition to the proposed tracking algorithm, this work offers additional contributions in three aspects: body detection, orientation estimation, and data validation. To demonstrate the opportunities that the proposed system offers for generating high-throughput quantitative motion data, we conducted experiments on five experimental configurations. We also performed quantitative analysis on the kinematics and the spatial structure and the motion patterns of fruit fly swarms. We found that there exists an asymptotic distance between fruit flies in swarms as the population density increases. Further, we discovered the evidence for repulsive response when the distance between fruit flies approached the asymptotic distance. Overall, the proposed tracking system presents a powerful method for studying flight behaviours of fruit flies in a three-dimensional environment.

  9. A Novel Method for Tracking Individuals of Fruit Fly Swarms Flying in a Laboratory Flight Arena.

    Directory of Open Access Journals (Sweden)

    Xi En Cheng

    Full Text Available The growing interest in studying social behaviours of swarming fruit flies, Drosophila melanogaster, has heightened the need for developing tools that provide quantitative motion data. To achieve such a goal, multi-camera three-dimensional tracking technology is the key experimental gateway. We have developed a novel tracking system for tracking hundreds of fruit flies flying in a confined cubic flight arena. In addition to the proposed tracking algorithm, this work offers additional contributions in three aspects: body detection, orientation estimation, and data validation. To demonstrate the opportunities that the proposed system offers for generating high-throughput quantitative motion data, we conducted experiments on five experimental configurations. We also performed quantitative analysis on the kinematics and the spatial structure and the motion patterns of fruit fly swarms. We found that there exists an asymptotic distance between fruit flies in swarms as the population density increases. Further, we discovered the evidence for repulsive response when the distance between fruit flies approached the asymptotic distance. Overall, the proposed tracking system presents a powerful method for studying flight behaviours of fruit flies in a three-dimensional environment.

  10. Test and Evaluation of Autonomous Ground Vehicles

    Directory of Open Access Journals (Sweden)

    Yang Sun


    Full Text Available A preestablished test and evaluation system will benefit the development of autonomous ground vehicles. This paper proposes a design method for a scientific and comprehensive test and evaluation system for autonomous ground vehicles competitions. It can better guide and regulate the development of China's autonomous ground vehicles. The test and evaluation system includes the test contents, the test environment, the test methods, and the evaluation methods. Using a hierarchical design approach, the test content is designed to be stage by stage, moving from simplicity to complexity and from individual modules to the entire vehicle. The hierarchical test environment is established according to the levels of test content. The test method based on multilevel platforms and sensors is put forward to ensure the accuracy of test results. A fuzzy comprehensive evaluation method combined with analytic hierarchy process (AHP is used for the comprehensive evaluation which can quantitatively evaluate the individual module and the overall technical performance of autonomous ground vehicles. The proposed test and evaluation system has been successfully applied to real autonomous ground vehicle competitions.

  11. Autonomous Vehicles: Disengagements, Accidents and Reaction Times. (United States)

    Dixit, Vinayak V; Chand, Sai; Nair, Divya J


    Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

  12. Autonomous Learning and Improving Communicative Competence

    Institute of Scientific and Technical Information of China (English)

    李宝红; 孙晓黎


    Nowadays, English as a world language becomes more and more important. Consequently, English learning becomes more and more popular. As we know, an important object for English learners is to improve their communicative competence. So autonomous learning is a good way to improve communicative competence. In this paper, two terms, autonomous learning and communicative competence, and their relationship will be introduced from the perspective of English learning. Autonomous learning is self-managed learning, which is contrary to passive learning and mechanical learning, according to intrinsic property of language learning. Communicative competence is a concept introduced by Dell Hymes and is discussed and refined by many oth⁃er linguists. According to Hymes, communicative competence is the ability not only to apply the grammatical rules of language in order to form grammatically correct sentences but also to know when and where to use these sentences and to whom. Communi⁃cative competence includes 4 aspects: Possibility, feasibility, appropriateness and performance. Improving communicative compe⁃tence is the result of autonomous learning, autonomous learning is the motivation of improving communicative competence. English, of course, is a bridge connecting China to the world, and fostering students’communicative competence through auton⁃omous learning is the vital element of improving English learning in China.

  13. Cutaneous autonomic denervation in Parkinson's disease. (United States)

    Navarro-Otano, Judith; Casanova-Mollà, Jordi; Morales, Merche; Valls-Solé, Josep; Tolosa, Eduard


    Numerous studies have detailed involvement of the peripheral autonomic nervous system (PANS) in Parkinson's disease (PD). We assessed autonomic innervation of dermal annexes through quantitative fluorescence measurement from skin obtained via punch biopsies at distal leg region in PD and control subjects. We defined a ratio between the area corresponding to protein gen product (PGP) immunoreactivity and the area corresponding to blood vessel or sweat gland as a quantitative measure of autonomic innervation. Presence of alpha-synuclein (AS) deposits in dermis and hypodermis was also assessed by immunohistochemistry. Skin biopsies form six PD patients and six healthy controls were studied. Autonomic innervation scores were lower in PD than in controls in both blood vessels and sweat glands. No AS or phosphorylated AS (pAS) immunoreactivity was detected in dermis or hypodermis in any of the studied subjects. The results of this investigation suggest that autonomic innervation of dermal annexes in living patients with PD is reduced compared to controls. AS or pAS deposits were not found in dermis or hypodermis suggesting that distal leg skin study is not useful for in vivo detection of AS in PD.

  14. Cardiovascular autonomic dysfunction in Parkinson's disease. (United States)

    Ziemssen, Tjalf; Reichmann, Heinz


    Symptoms of cardiovascular dysautonomia are a common occurrence in Parkinson's disease (PD). In addition to this dysautonomia as part of PD itself, dysfunction of the autonomic nervous system (ANS) can be triggered as a side-effect of drug treatment interacting with the ANS or - if prominent and early - an indication of a different disease such as multiple system atrophy (MSA). Various diagnostic tests are available to demonstrate autonomic failure. While autonomic function tests can differentiate parasympathetic from sympathetic dysfunction, cardiac imaging can define the pathophysiologically involved site of a lesion. Standard tests such as 24-h ambulatory blood pressure measurements can identify significant autonomic failure which needs treatment. The most frequent and disturbing symptom of cardiovascular autonomic dysfunction is orthostatic hypotension. Symptoms include generalized weakness, light-headiness, mental "clouding" up to syncope. Factors like heat, food, alcohol, exercise, activities which increase intrathoraric pressure (e.g. defecation, coughing) and certain drugs (e.g. vasodilators) can worsen a probably asymptomatic orthostatic hypotension. Non-medical and medical therapies can help the patient to cope with a disabling symptomatic orthostatic hypotension. Supine hypertension is often associated with orthostatic hypotension. The prognostic role of cardiovagal and baroreflex dysfunction is still not yet known.

  15. 宁夏中奥陶统香山群徐家圈组内波、内潮汐沉积类型%Sedimentary Types of Internal-wave and Internal-tide Deposits of Middle Ordovician,Xujiajuan Formation,Xiangshan Group, Ningxia Autonomous Region,China

    Institute of Scientific and Technical Information of China (English)

    李向东; 何幼斌; 张铭记; 刘训; 姚建新


    The study of internal-wave and internal-tide deposits is a very young research field with twenty years of history in the deep-water deposition,and there is no study on its sedimentary types.Here,we forcus on the internal-wave and internal-tide deposits developed in Xujiajuan Formation,Xiangshan Group,Ningxia Autonomous Region and describe related sedimentary structures in detail.We interpret combined-flow-ripple lamination and the cross beddings with undulatory laminations,offshooting laminations and cross-laminated lenses as combined-flow and oscillatory flow generated by short-period internal waves respectively.According to these new interpretations and the interpretations of deep-water bidirectional cross-beddings and unidirectional cross-beddings in literatures,we attribute internal-wave and internal-tide deposits to short-period internal-wave deposits,internal-tide deposits and interaction internal-wave deposits.Here,we use internal-wave and internal-tide deposits instead of internal-wave deposits because of the special origin and research status of internal tides.%内波、内潮汐沉积是深水沉积研究中一个非常年轻的研究领域,自发现到现在仅仅20年时间,对其沉积类型的研究目前尚未涉及。以宁夏香山群徐家圈组中的内波、内潮汐沉积为对象,详细描述了深水环境中形成的双向交错层理、单向交错层理、复合流层理及具有波状纹层、束状纹层和交错纹层透镜体的交错层理,并探讨了其成因机制,识别出了短周期内波沉积。在此基础之上,结合已有的内波、内潮汐沉积鉴别标志,从沉积构造的角度对内波、内潮汐沉积类型进行了探讨。将内波、内潮汐沉积分为短周期内波沉积、内潮汐沉积和叠加内波沉积。鉴于内潮汐形成机制的独特性和海洋物理学中内波的研究现状,三者仍统称为内波、内潮汐沉积。

  16. How mosquitoes fly in the rain (United States)

    Dickerson, Andrew; Shankles, Peter; Madhavan, Nihar; Hu, David


    Mosquitoes thrive during rainfall and high humidity. If raindrops are 50 times heavier than mosquitoes, how do mosquitoes fly in the rain? In this combined experimental and theoretical study, we measure the impact force between a falling drop and a free-flying mosquito. High-speed videography of mosquitoes and custom-built mimics reveals a mosquito's low inertia renders it impervious to falling drops. Drops do not splash on mosquitoes, but simply push past them allowing a mosquito to continue on its flight path undeterred. We rationalize the force imparted using scaling relations based on the time of rebound between a falling drop and a free body of significantly less mass.

  17. Changeing of fly ash leachability after grinding (United States)

    Lakatos, J.; Szabo, R.; Racz, A.; Banhidi, O.; Mucsi, G.


    Effect of grinding on the reactivity of fly ash used for geopolymer production was tested. Extraction technique using different alkaline and acidic solutions were used for detect the change of the solubility of elements due to the physical and mechano-chemical transformation of minerals in function of grinding time. Both the extraction with alkaline and acidic solution have detected improvement in solubility in function of grinding time. The enhancement in alkaline solution was approx. 100% in case of Si and Al. The acidic medium able to dissolve the fly ash higher manner than the alkaline, therefore the effect of grinding was found less pronounced.

  18. Physical cleaning of high carbon fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Gray, McMahan L.; Champagne, Kenneth J.; Soong, Yee; Killmeyer, Richard P. [National Energy Technology Laboratory, US Department of Energy, P.O. Box 10940, Cochran Mills Roads, 15236 Pittsburgh, PA (United States); Maroto-Valer, M. Mercedes; Andresen, John M. [The Energy Institute, The Pennsylvania State University, 405 Academic Activities Building, 16802-2308 University Park, PA (United States); Ciocco, Michael V.; Zandhuis, Paul H. [Parson Project Services Inc, National Energy Technology Laboratory, P.O. Box 618, 15129 Library, Pittsburgh, PA (United States)


    An industrial fly ash sample was cleaned by three different processes, which were triboelectrostatic separation, ultrasonic column agglomeration, and column flotation. The unburned carbon concentrates were collected at purities ranging up to 62% at recoveries of 62%. In addition, optical microscopy studies were conducted on the final carbon concentrates to determine the carbon forms (inertinite, isotropic coke and anisotropic coke) collected from these various physical-cleaning processes. The effects of the various cleaning processes on the production of different carbon forms from high carbon fly ashes will be discussed.


    Energy Technology Data Exchange (ETDEWEB)



    As the AGS prepares to serve as the injector for RHIC, monitoring and control of the beam transverse emittance become a major and important topic. Before the installation of the flying wire system, the emittance was measured with ionization profile monitors in the AGS, which require correction for space charge effects. It is desirable to have a second means of measuring profile that is less depend on intensity. A flying wire system has been installed in the AGS recently to perform this task. This paper discusses the hardware and software setup and the capabilities of the system.

  20. Zebrafish model of tuberous sclerosis complex reveals cell-autonomous and non-cell-autonomous functions of mutant tuberin

    Directory of Open Access Journals (Sweden)

    Seok-Hyung Kim


    Tuberous sclerosis complex (TSC is an autosomal dominant disease caused by mutations in either the TSC1 (encodes hamartin or TSC2 (encodes tuberin genes. Patients with TSC have hamartomas in various organs throughout the whole body, most notably in the brain, skin, eye, heart, kidney and lung. To study the development of hamartomas, we generated a zebrafish model of TSC featuring a nonsense mutation (vu242 in the tsc2 gene. This tsc2vu242 allele encodes a truncated Tuberin protein lacking the GAP domain, which is required for inhibition of Rheb and of the TOR kinase within TORC1. We show that tsc2vu242 is a recessive larval-lethal mutation that causes increased cell size in the brain and liver. Greatly elevated TORC1 signaling is observed in tsc2vu242/vu242 homozygous zebrafish, and is moderately increased in tsc2vu242/+ heterozygotes. Forebrain neurons are poorly organized in tsc2vu242/vu242 homozygous mutants, which have extensive gray and white matter disorganization and ectopically positioned cells. Genetic mosaic analyses demonstrate that tsc2 limits TORC1 signaling in a cell-autonomous manner. However, in chimeric animals, tsc2vu242/vu242 mutant cells also mislocalize wild-type host cells in the forebrain in a non-cell-autonomous manner. These results demonstrate a highly conserved role of tsc2 in zebrafish and establish a new animal model for studies of TSC. The finding of a non-cell-autonomous function of mutant cells might help explain the formation of brain hamartomas and cortical malformations in human TSC.