WorldWideScience

Sample records for autonomous formation flying

  1. Adaptive Supervisory Engine for Autonomous Formation Flying GNC Project

    Data.gov (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 Formation Flying from Ground to Flight

    Science.gov (United States)

    Chapman, Keith B.; Dell, Gregory T.; Rosenberg, Duane L.; Bristow, John

    1999-01-01

    The cost of on-orbit operations remains a significant and increasingly visible concern in the support of satellite missions. Headway has been made in automating some ground operations; however, increased mission complexity and more precise orbital constraints have compelled continuing human involvement in mission design and maneuver planning operations. AI Solutions, Inc. in cooperation with the National Aeronautics and Space Administration's (NASA) Goddard Space Flight Center (GSFC) has tackled these more complex problems through the development of AutoCon as a tool for an automated solution. NASA is using AutoCon to automate the maneuver planning for the Earth Orbiter-1 (EO-1) mission. AutoCon was developed originally as a ground system tool. The EO-1 mission will be using a scaled version of AutoCon on-board the EO-1 satellite to command orbit adjustment maneuvers. The flight version of AutoCon plans maneuvers based on formation flying algorithms developed by GSFC, JPL, and other industry partners. In its fully autonomous mode, an AutoCon planned maneuver will be executed on-board the satellite without intervention from the ground. This paper describes how AutoCon automates maneuver planning for the formation flying constraints of the EO-1 mission. AutoCon was modified in a number of ways to automate the maneuver planning on-board the satellite. This paper describes how the interface and functionality of AutoCon were modified to support the on-board system. A significant component of this modification was the implementation of a data smoother, based on a Kalman filter, that ensures that the spacecraft states estimated by an on-board GPS receiver are as accurate as possible for maneuver planning. This paper also presents the methodology use to scale the AutoCon functionality to fit and execute on the flight hardware. This paper also presents the modes built that allow the incremental phasing in of autonomy. New technologies for autonomous operations are usually

  3. Autonomous Supervisory Engine for Multi-Spacecraft Formation Flying Project

    Data.gov (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...

  4. Autonomous Formation Flying from the Ground to Flight

    Science.gov (United States)

    Chapman, Keith B.; Dell, Gregory T.; Rosenberg, Duane L.; Bristow, John

    1999-01-01

    The cost of on-orbit operations remains a significant and increasingly visible concern in the support of satellite missions. Headway has been made in automating some ground operations; however, increased mission complexity and more precise orbital constraints have compelled continuing human involvement in mission design and maneuver planning operations. AI Solutions, Inc. in cooperation with the National Aeronautics and Space Administration's (NASA) Goddard Space Flight Center (GSFC) has tackled these more complex problems through the development of AutoCon(TM) as a tool for an automated solution. NASA is using AutoCon(TM) to automate the maneuver planning for the Earth Orbiter-1 (EO-1) mission. AutoCon(TM) was developed originally as a ground system tool. The EO-1 mission will be using a scaled version of AutoCon(TM) on-board the EO-1 satellite to command orbit adjustment maneuvers. The flight version of AutoCon(TM) plans maneuvers based on formation flying algorithms developed by GSFC, JPL, and other industry partners. In its fully autonomous mode, an AutoCon(TM) planned maneuver will be executed on-board the satellite without intervention from the ground. This paper describes how AutoCon(TM) automates maneuver planning for the formation flying constraints of the EO-1 mission. AutoCon(TM) was modified in a number of ways to automate the maneuver planning on-board the satellite. This paper describes how the interface and functionality of AutoCon(TM) were modified to support the on-board system. A significant component of this modification was the implementation of a data smoother, based on a Kalman filter, that ensures that the spacecraft states estimated by an on-board GPS receiver are as accurate as possible for maneuver planning. This paper also presents the methodology used to scale the AutoCon(TM) functionality to fit and execute on the flight hardware. This paper also presents the modes built into the system that allow the incremental phasing in of autonomy

  5. Autonomous Flying Controls Testbed

    Science.gov (United States)

    Motter, Mark A.

    2005-01-01

    The Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis,Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights.

  6. First Results from a Hardware-in-the-Loop Demonstration of Closed-Loop Autonomous Formation Flying

    Science.gov (United States)

    Gill, E.; Naasz, Bo; Ebinuma, T.

    2003-01-01

    A closed-loop system for the demonstration of formation flying technologies has been developed at NASA s Goddard Space Flight Center. Making use of a GPS signal simulator with a dual radio frequency outlet, the system includes two GPS space receivers as well as a powerful onboard navigation processor dedicated to the GPS-based guidance, navigation, and control of a satellite formation in real-time. The closed-loop system allows realistic simulations of autonomous formation flying scenarios, enabling research in the fields of tracking and orbit control strategies for a wide range of applications. A sample scenario has been set up where the autonomous transition of a satellite formation from an initial along-track separation of 800 m to a final distance of 100 m has been demonstrated. As a result, a typical control accuracy of about 5 m has been achieved which proves the applicability of autonomous formation flying techniques to formations of satellites as close as 50 m.

  7. Autonomous Formation Flying of Micro Aerial Vehicles for Communication Relay Chains

    OpenAIRE

    Angermann, Michael; Frassl, Martin; Lichtenstern, Michael

    2011-01-01

    In this paper we describe the use of GNSS location determination for formation flying of multiple Micro Aerial Vehicles (MAVs). These MAVs are the core component of a system that realizes a chain of airborne communication relays to provide communication services to mobile terminals. This chain of communication relay nodes improves wireless radio communication by utilizing two effects. Firstly, a chain of relay nodes is able to convert an unfavorable non-line-of-sight condition to a line-of-si...

  8. Flocking algorithm for autonomous flying robots.

    Science.gov (United States)

    Virágh, Csaba; Vásárhelyi, Gábor; Tarcai, Norbert; Szörényi, Tamás; Somorjai, Gergő; Nepusz, Tamás; Vicsek, Tamás

    2014-06-01

    Animal swarms displaying a variety of typical flocking patterns would not exist without the underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in their control algorithms. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour requires thorough and realistic modeling of the robot and also the environment. In this paper, we first present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results on the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters. In our case, bio-inspiration works in two ways. On the one hand, the whole idea of trying to build and control a swarm of robots comes from the observation that birds tend to flock to optimize their behaviour as a group. On the other hand, by using a realistic simulation framework and studying the group behaviour of autonomous robots we can learn about the major factors influencing the flight of bird flocks. PMID:24852272

  9. 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

    2013-01-01

    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.

  10. Protocol for Communication Networking for Formation Flying

    Science.gov (United States)

    Jennings, Esther; Okino, Clayton; Gao, Jay; Clare, Loren

    2009-01-01

    An application-layer protocol and a network architecture have been proposed for data communications among multiple autonomous spacecraft that are required to fly in a precise formation in order to perform scientific observations. The protocol could also be applied to other autonomous vehicles operating in formation, including robotic aircraft, robotic land vehicles, and robotic underwater vehicles. A group of spacecraft or other vehicles to which the protocol applies could be characterized as a precision-formation- flying (PFF) network, and each vehicle could be characterized as a node in the PFF network. In order to support precise formation flying, it would be necessary to establish a corresponding communication network, through which the vehicles could exchange position and orientation data and formation-control commands. The communication network must enable communication during early phases of a mission, when little positional knowledge is available. Particularly during early mission phases, the distances among vehicles may be so large that communication could be achieved only by relaying across multiple links. The large distances and need for omnidirectional coverage would limit communication links to operation at low bandwidth during these mission phases. Once the vehicles were in formation and distances were shorter, the communication network would be required to provide high-bandwidth, low-jitter service to support tight formation-control loops. The proposed protocol and architecture, intended to satisfy the aforementioned and other requirements, are based on a standard layered-reference-model concept. The proposed application protocol would be used in conjunction with conventional network, data-link, and physical-layer protocols. The proposed protocol includes the ubiquitous Institute of Electrical and Electronics Engineers (IEEE) 802.11 medium access control (MAC) protocol to be used in the datalink layer. In addition to its widespread and proven use in

  11. Operations on Rigid Formations of Autonomous Agents

    OpenAIRE

    Eren, Tolga; Anderson, Brian D. O.; Morse, A. Stephen; Whiteley, Walter; Belhumeur, Peter N.

    2003-01-01

    This paper is concerned with the maintenance of rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an integral part of coordination. Network topologies are critically important for autonomous systems involving mobile underwater, ground and air vehicles and for sensor networks. This paper focuses on developing techniques and strategies for the analysis and design of sensor a...

  12. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

    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

  13. Formation flying; an interview with Tobias Gutleb

    NARCIS (Netherlands)

    Gutleb, T.; Perenboom, T.

    2011-01-01

    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

  14. Formation flying control via elliptical virtual structure

    OpenAIRE

    Kahn, Arthur; Marzat, Julien; Piet-Lahanier, Hélène

    2013-01-01

    This paper describes a guidance law for the formation flight of a flock of autonomous vehicles. The formation is defined by a virtual geometrical structure - here, an ellipse - that can modify its shape and orientation to avoid collision with obstacles of the environment. The proposed guidance law is divided into two layers, with a model predictive control scheme at each level. The higher layer controls the structure itself to fulfill the goals and constraints of the required mission. The tra...

  15. Autonomous Formations of Multi-Agent Systems

    Science.gov (United States)

    Dhali, Sanjana; Joshi, Suresh M.

    2013-01-01

    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.

  16. 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

    2014-01-01

    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.

  17. Autonomous formation flight of helicopters: Model predictive control approach

    Science.gov (United States)

    Chung, Hoam

    Formation flight is the primary movement technique for teams of helicopters. However, the potential for accidents is greatly increased when helicopter teams are required to fly in tight formations and under harsh conditions. This dissertation proposes that the automation of helicopter formations is a realistic solution capable of alleviating risks. Helicopter formation flight operations in battlefield situations are highly dynamic and dangerous, and, therefore, we maintain that both a high-level formation management system and a distributed coordinated control algorithm should be implemented to help ensure safe formations. The starting point for safe autonomous formation flights is to design a distributed control law attenuating external disturbances coming into a formation, so that each vehicle can safely maintain sufficient clearance between it and all other vehicles. While conventional methods are limited to homogeneous formations, our decentralized model predictive control (MPC) approach allows for heterogeneity in a formation. In order to avoid the conservative nature inherent in distributed MPC algorithms, we begin by designing a stable MPC for individual vehicles, and then introducing carefully designed inter-agent coupling terms in a performance index. Thus the proposed algorithm works in a decentralized manner, and can be applied to the problem of helicopter formations comprised of heterogenous vehicles. Individual vehicles in a team may be confronted by various emerging situations that will require the capability for in-flight reconfiguration. We propose the concept of a formation manager to manage separation, join, and synchronization of flight course changes. The formation manager accepts an operator's commands, information from neighboring vehicles, and its own vehicle states. Inside the formation manager, there are multiple modes and complex mode switchings represented as a finite state machine (FSM). Based on the current mode and collected

  18. Outdoor flocking and formation flight with autonomous aerial robots

    OpenAIRE

    Vásárhelyi, Gábor; Virágh, Csaba; Somorjai, Gergő; Tarcai, Norbert; Szörényi, Tamás; Nepusz, Tamás; Vicsek, Tamás

    2014-01-01

    We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information received from other robots in the vicinity. We do not use central data processing or control; instead, all the necessary computations are carried out by miniature on-board computers. The only global information the system exploits is from GPS receivers, whi...

  19. SPHERES: Design of a Formation Flying Testbed for ISS

    Science.gov (United States)

    Sell, S. W.; Chen, S. E.

    2002-01-01

    The SPHERES (Synchronized Position Hold Engage and Reorient Experimental Satellites) payload is an innovative formation-flying spacecraft testbed currently being developed for use internally aboard the International Space Station (ISS). The purpose of the testbed is to provide a cost-effective, long duration, replenishable, and easily reconfigurable platform with representative dynamics for the development and validation of metrology, formation flying, and autonomy algorithms. The testbed components consist of three 8-inch diameter free-flying "satellites," five ultrasound beacons, and an ISS laptop workstation. Each satellite is self-contained with on-board battery power, cold-gas propulsion (CO2), and processing systems. Satellites use two packs of eight standard AA batteries for approximately 90 minutes of lifetime while beacons last the duration of the mission powered by a single AA battery. The propulsion system uses pressurized carbon dioxide gas, stored in replaceable tanks, distributed through an adjustable regulator and associated tubing to twelve thrusters located on the faces of the satellites. A Texas Instruments C6701 DSP handles control algorithm data while an FPGA manages all sensor data, timing, and communication processes on the satellite. All three satellites communicate with each other and with the controlling laptop via a wireless RF link. Five ultrasound beacons, located around a predetermined work area, transmit ultrasound signals that are received by each satellite. The system effectively acts as a pseudo-GPS system, allowing the satellites to determine position and attitude and to navigate within the test arena. The payload hardware are predominantly Commercial Off The Shelf (COTS) products with the exception of custom electronics boards, selected propulsion system adaptors, and beacon and satellite structural elements. Operationally, SPHERES will run in short duration test sessions with approximately two weeks between each session. During

  20. Formation Flying Spacecraft Concept for Heliophysics Applications

    Science.gov (United States)

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

    2016-05-01

    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.

  1. Map format for mobile robot map-based autonomous navigation

    OpenAIRE

    Corominas Murtra, Andreu; Mirats-Tur, Josep M.

    2007-01-01

    This technical report defines the spatial representation and the map file format used in a mobile robot map-based autonomous navigation system designed to be deployed in urban areas. After a discussion about common requirements of spatial representations for map-based mobile robot autonomous navigation, a proposed environment model that fulfills previously discussed requirements is formally presented. An example of a map representing an outdoor area of an university campus of about 10000m2 is...

  2. Controlling formation of autonomous agents with distance disagreements

    NARCIS (Netherlands)

    Garcia de Marina, H.; Cao, M.; Jayawardhana, B.

    2013-01-01

    We address the robustness issue for controlling, using only local information, the shapes of undirected rigid formations of autonomous agents when the agents disagree with their neighboring peers on the prescribed or measured distances between them. We propose to make use of simple local estimators

  3. Decentralized formation flying control in a multiple-team hierarchy.

    Science.gov (United States)

    Mueller, Joseph B; Thomas, Stephanie J

    2005-12-01

    In recent years, formation flying has been recognized as an enabling technology for a variety of mission concepts in both the scientific and defense arenas. Examples of developing missions at NASA include magnetospheric multiscale (MMS), solar imaging radio array (SIRA), and terrestrial planet finder (TPF). For each of these missions, a multiple satellite approach is required in order to accomplish the large-scale geometries imposed by the science objectives. In addition, the paradigm shift of using a multiple satellite cluster rather than a large, monolithic spacecraft has also been motivated by the expected benefits of increased robustness, greater flexibility, and reduced cost. However, the operational costs of monitoring and commanding a fleet of close-orbiting satellites is likely to be unreasonable unless the onboard software is sufficiently autonomous, robust, and scalable to large clusters. 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 computation 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 a messaging architecture for networking and threaded applications (MANTA). 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

  4. Common aero vehicle autonomous reentry trajectory optimization satisfying waypoint and no-fly zone constraints

    Science.gov (United States)

    Jorris, Timothy R.

    2007-12-01

    To support the Air Force's Global Reach concept, a Common Aero Vehicle is being designed to support the Global Strike mission. "Waypoints" are specified for reconnaissance or multiple payload deployments and "no-fly zones" are specified for geopolitical restrictions or threat avoidance. Due to time critical targets and multiple scenario analysis, an autonomous solution is preferred over a time-intensive, manually iterative one. Thus, a real-time or near real-time autonomous trajectory optimization technique is presented to minimize the flight time, satisfy terminal and intermediate constraints, and remain within the specified vehicle heating and control limitations. This research uses the Hypersonic Cruise Vehicle (HCV) as a simplified two-dimensional platform to compare multiple solution techniques. The solution techniques include a unique geometric approach developed herein, a derived analytical dynamic optimization technique, and a rapidly emerging collocation numerical approach. This up-and-coming numerical technique is a direct solution method involving discretization then dualization, with pseudospectral methods and nonlinear programming used to converge to the optimal solution. This numerical approach is applied to the Common Aero Vehicle (CAV) as the test platform for the full three-dimensional reentry trajectory optimization problem. The culmination of this research is the verification of the optimality of this proposed numerical technique, as shown for both the two-dimensional and three-dimensional models. Additionally, user implementation strategies are presented to improve accuracy and enhance solution convergence. Thus, the contributions of this research are the geometric approach, the user implementation strategies, and the determination and verification of a numerical solution technique for the optimal reentry trajectory problem that minimizes time to target while satisfying vehicle dynamics and control limitation, and heating, waypoint, and no-fly

  5. Safety management of formation flying in an aerobatic team

    OpenAIRE

    Róbert ROZENBERG; Stanislav SZABO; Iveta ŠEBEŠČÁKOVÁ*

    2013-01-01

    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.

  6. Safety management of formation flying in an aerobatic team

    Directory of Open Access Journals (Sweden)

    Róbert ROZENBERG

    2013-12-01

    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.

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

    OpenAIRE

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

    2009-01-01

    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 demonstrate various new technologies and perform observations of atmospheric aerosols and seasonal variations of height profiles in the cryosphere using spectropolarimeter and altimeter payloads on both sp...

  8. Control of Open Contour Formations of Autonomous Underwater Vehicles

    OpenAIRE

    Uwe Zimmer; Shahab Kalantar

    2008-01-01

    In this paper, we propose a distributed elastic behaviour for a deformable chain-like formation of small autonomous underwater vehicles with the task of forming special shapes which have been explicitly defined or are defined by some iso-contour of an environmental concentration field. In the latter case, the formation has to move in such a way as to meet certain formation parameters as well as adapt to the iso-line. We base our controller on our previous models (for manually controlled end p...

  9. Control of Open Contour Formations of Autonomous Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    Uwe Zimmer

    2008-11-01

    Full Text Available In this paper, we propose a distributed elastic behaviour for a deformable chain-like formation of small autonomous underwater vehicles with the task of forming special shapes which have been explicitly defined or are defined by some iso-contour of an environmental concentration field. In the latter case, the formation has to move in such a way as to meet certain formation parameters as well as adapt to the iso-line. We base our controller on our previous models (for manually controlled end points using general curve evolution theory but will also propose appropriate motions for the end robots of an open chain.

  10. Navigation strategies for multiple autonomous mobile robots moving in formation

    Science.gov (United States)

    Wang, P. K. C.

    1991-01-01

    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.

  11. Science enabled by high precision inertial formation flying

    CERN Document Server

    Skinner, G K; Krizmanic, J F; Kontar, E P

    2013-01-01

    The capability of maintaining two satellites in precise relative position, stable in a celestial coordinate system, would enable major advances in a number of scientific disciplines and with a variety of types of instrumentation. The common requirement is for formation flying of two spacecraft with the direction of their vector separation in inertial coordinates precisely controlled and accurately determined as a function of time. We consider here the scientific goals that could be achieved with such technology and review some of the proposals that have been made for specific missions. Types of instrumentation that will benefit from the development of this type of formation flying include 1) imaging systems, in which an optical element on one spacecraft forms a distant image recorded by a detector array on the other spacecraft, including telescopes capable of very high angular resolution; 2) systems in which the front spacecraft of a pair carries an occulting disk, allowing very high dynamic range observation...

  12. Ultra-miniature omni-directional camera for an autonomous flying micro-robot

    Science.gov (United States)

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

    2008-04-01

    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.

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

    Science.gov (United States)

    Dorais, Gregory A.; Nicewarner, Keith

    2006-01-01

    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. Orbit and attitude control of spacecraft formation flying

    Institute of Scientific and Technical Information of China (English)

    ZHANG Zhi-guo; LI Jun-feng

    2008-01-01

    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.

  15. 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

    2005-01-01

    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.

  16. Formation flying for a Fresnel lens observatory mission

    OpenAIRE

    Krizmanic, John; Skinner, Gerry; Gehrels, Neil

    2006-01-01

    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 ...

  17. Real time hardware in the loop simulation testbed of spacecraft formation flying

    OpenAIRE

    Ahmed, Riaz

    2008-01-01

    The great potential benefits associated with SFF (satellite formation flying) have led to considerable research in this concept around the world. As it is a new field of research and the implementation of formation flying in practice brings some inherent challenges and risks It is therefore particularly useful to develop a real time platform, where formation flying theories, technologies, algorithms and their coordination in open and close loop can be tested in scenarios close ...

  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

    2004-01-01

    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

    2006-01-01

    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. Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents

    Directory of Open Access Journals (Sweden)

    Debabrata Atta

    2010-01-01

    Full Text Available This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called follower, to its neighbouring agent. A rigid and constraint consistent graph is called persistent graph. A persistent graph is minimally persistent if it is persistent, and no edge can be removed without losing its persistence. An acyclic (free of cycles in its sensing pattern minimally persistent graph of Leader-Follower structure has been considered here which can be constructed from an initial Leader-Follower seed (initial graph with two vertices, one is Leader and another one is First Follower and one edge in between them is directed towards Leader by Henneberg sequence (a procedure of growing a graph containing only vertex additions. A set of nonlinear optimization-based decentralized control laws for mobile autonomous point agents in two dimensional plane have been proposed. An infinitesimal deviation in formation shape created continuous motion of Leader is compensated by corresponding continuous motion of other agents fulfilling the shortest path criteria.

  1. Optimal Lorentz-augmented spacecraft formation flying in elliptic orbits

    Science.gov (United States)

    Huang, Xu; Yan, Ye; Zhou, Yang

    2015-06-01

    An electrostatically charged spacecraft accelerates as it moves through the Earth's magnetic field due to the induced Lorentz force, providing a new means of propellantless electromagnetic propulsion for orbital maneuvers. The feasibility of Lorentz-augmented spacecraft formation flying in elliptic orbits is investigated in this paper. Assuming the Earth's magnetic field as a tilted dipole corotating with Earth, a nonlinear dynamical model that characterizes the orbital motion of Lorentz spacecraft in the vicinity of arbitrary elliptic orbits is developed. To establish a predetermined formation configuration at given terminal time, pseudospectral method is used to solve the optimal open-loop trajectories of hybrid control inputs consisted of Lorentz acceleration and thruster-generated control acceleration. A nontilted dipole model is also introduced to analyze the effect of dipole tilt angle via comparisons with the tilted one. Meanwhile, to guarantee finite-time convergence and system robustness against external perturbations, a continuous fast nonsingular terminal sliding mode controller is designed and the closed-loop system stability is proved by Lyapunov theory. Numerical simulations substantiate the validity of proposed open-loop and closed-loop control schemes, and the results indicate that an almost propellantless formation establishment can be achieved by choosing appropriate objective function in the pseudospectral method. Furthermore, compared to the nonsingular terminal sliding mode controller, the closed-loop controller presents superior convergence rate with only a bit more control effort. And the proposed controller can be applied in other Lorentz-augmented relative orbital control problems.

  2. Topology Control Algorithms for Spacecraft Formation Flying Networks Under Connectivity and Time-Delay Constraints Project

    Data.gov (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...

  3. Kinetochore assembly and heterochromatin formation occur autonomously in Schizosaccharomyces pombe.

    Science.gov (United States)

    Brown, William R A; Thomas, Geraint; Lee, Nicholas C O; Blythe, Martin; Liti, Gianni; Warringer, Jonas; Loose, Matthew W

    2014-02-01

    Kinetochores in multicellular eukaryotes are usually associated with heterochromatin. Whether this heterochromatin simply promotes the cohesion necessary for accurate chromosome segregation at cell division or whether it also has a role in kinetochore assembly is unclear. Schizosaccharomyces pombe is an important experimental system for investigating centromere function, but all of the previous work with this species has exploited a single strain or its derivatives. The laboratory strain and most other S. pombe strains contain three chromosomes, but one recently discovered strain, CBS 2777, contains four. We show that the genome of CBS 2777 is related to that of the laboratory strain by a complex chromosome rearrangement. As a result, two of the kinetochores in CBS 2777 contain the central core sequences present in the laboratory strain centromeres, but lack adjacent heterochromatin. The closest block of heterochromatin to these rearranged kinetochores is ∼100 kb away at new telomeres. Despite lacking large amounts of adjacent heterochromatin, the rearranged kinetochores bind CENP-A(Cnp1) and CENP-C(Cnp3) in similar quantities and with similar specificities as those of the laboratory strain. The simplest interpretation of this result is that constitutive kinetochore assembly and heterochromatin formation occur autonomously. PMID:24449889

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

    Directory of Open Access Journals (Sweden)

    Bahram Lavi Sefidgari

    2014-01-01

    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.

  5. COMPARISON OF TWO METHODS IN SATELLITE FORMATION FLYING

    Institute of Scientific and Technical Information of China (English)

    高云峰; 宝音贺西; 李俊峰

    2003-01-01

    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.

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

    Data.gov (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. 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

    2009-01-01

    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.

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

    DEFF Research Database (Denmark)

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

    1999-01-01

    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....

  9. Clay formation and metal fixation during weathering of coal fly ash

    International Nuclear Information System (INIS)

    The enormous and worldwide production of coal fly ash cannot be durably isolated from the weathering cycle, and the weathering characteristics of fly ash must be known to understand the long-term environmental impact. The authors studied the weathering of two coal fly ashes and compared them with published data from weathered volcanic ash, it's closest natural analogue. Both types of ash contain abundant aluminosilicate glass, which alters to noncrystalline clay. However, this study reveals that the kinetics of coal fly ash weathering are more rapid than those of volcanic ash because the higher pH of fresh coal fly ash promotes rapid dissolution of the glass. After about 10 years of weathering, the noncrystalline clay content of coal fly ash is higher than that of 250-year-old volcanic ash. The observed rapid clay formation together with heavy metal fixation imply that the long-term environmental impact of coal fly ash disposal may be less severe and the benefits more pronounced than predicted from previous studies on unweathered ash. Their findings suggest that isolating coal fly ash from the weathering cycle may be counterproductive because, in the long-term under conditions of free drainage, fly ash is converted into fertile soil capable of supporting agriculture

  10. Concept for practical exercises for studying autonomous flying robots in a university environment: part II

    Science.gov (United States)

    Gageik, Nils; Dilger, Erik; Montenegro, Sergio; Schön, Stefan; Wildenhein, Rico; Creutzburg, Reiner; Fischer, Arno

    2015-03-01

    The present paper demonstrates the application of quadcopters as educational material for students in aerospace computer science, as it is already in usage today. The work with quadrotors teaches students theoretical and practical knowledge in the fields of robotics, control theory, aerospace and electrical engineering as well as embedded programming and computer science. For this the material, concept, realization and future view of such a course is discussed in this paper. Besides that, the paper gives a brief overview of student research projects following the course, which are related to the research and development of fully autonomous quadrotors.

  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

    2003-02-01

    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

    2009-01-01

    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. Optimum Guidance Law and Information Management for a Large Number of Formation Flying Spacecrafts

    Science.gov (United States)

    Tsuda, Yuichi; Nakasuka, Shinichi

    In recent years, formation flying technique is recognized as one of the most important technologies for deep space and orbital missions that involve multiple spacecraft operations. Formation flying mission improves simultaneous observability over a wide area, redundancy and reconfigurability of the system with relatively small and low cost spacecrafts compared with the conventional single spacecraft mission. From the viewpoint of guidance and control, realizing formation flying mission usually requires tight maintenance and control of the relative distances, speeds and orientations between the member satellites. This paper studies a practical architecture for formation flight missions focusing mainly on guidance and control, and describes a new guidance algorithm for changing and keeping the relative positions and speeds of the satellites in formation. The resulting algorithm is suitable for onboard processing and gives the optimum impulsive trajectory for satellites flying closely around a certain reference orbit, that can be elliptic, parabolic or hyperbolic. Based on this guidance algorithm, this study introduces an information management methodology between the member spacecrafts which is suitable for a large formation flight architecture. Routing and multicast communication based on the wireless local area network technology are introduced. Some mathematical analyses and computer simulations will be shown in the presentation to reveal the feasibility of the proposed formation flight architecture, especially when a very large number of satellites join the formation.

  14. Controlling public speaking jitters: making the butterflies fly in formation.

    Science.gov (United States)

    Harvey, Hannah; Baum, Neil

    2014-01-01

    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. PMID:25807629

  15. 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

    2011-12-01

    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.

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

    OpenAIRE

    Xianbo Xiang; Bruno Jouvencel; Olivier Parodi

    2010-01-01

    International audience 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 f...

  17. Traveling waves and dynamical formation of autonomous pacemakers in a bistable medium with periodic boundary conditions

    Science.gov (United States)

    Shepelev, Igor A.; Vadivasova, Tatiana E.; Postnov, Dmitry E.

    2015-03-01

    The problem of spatiotemporal pattern formation in the wall of arterial vesselsmay be reduced to 1D or 2D models of nonlinear active medium. We address this problem using the discrete array of non-oscillating (bistable) active units. We show how the specific choice of initial conditions in a 1D model with periodic boundary conditions triggers the self-sustained behaviour. We reveal the core of observed effects being the dynamical formation of localized (few-element size) autonomous pacemakers.

  18. Road-Following Formation Control of Autonomous Ground Vehicles

    Science.gov (United States)

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

    2015-01-01

    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.

  19. Precision formation flying at megameter separations for exoplanet characterization

    Science.gov (United States)

    Scharf, Daniel P.; Martin, Stefan R.; Liebe, Carl Christian; Rahman, Zahidul H.; Seubert, Carl R.; Noecker, Martin Charles; Purcell, George H.

    2016-06-01

    Starshade missions offer a near-term capability to measure the spectra of Earth-sized exoplanets, searching for possible bio-indicators. To function, a starshade and telescope separated by approximately 50 Mm must align to the meter-level on the line to the target star. From the telescope's perspective, this alignment in turn requires sensing the bearing between target star and starshade to approximately 1 milli-arcsecond (5 nrad). Previously, several fine bearing sensors have been proposed based on pupil images of the starshade's shadow. In this paper, a fine bearing sensor is presented based on measuring in the focal plane the bearing between a laser beacon on the starshade and the diffracted centroid of the target star that "leaks" around the starshade outside the science wavelengths. Coarse and medium bearing sensors are also introduced that allow for autonomous operation. The performance of extended Kalman filters using the bearing sensors is presented, as well as deadbanding performance in science mode.

  20. Hardware-In-The-Loop Testing of Continuous Control Algorithms for a Precision Formation Flying Demonstration Mission

    Science.gov (United States)

    Naasz, Bo J.; Burns, Richard D.; Gaylor, David; Higinbotham, John

    2004-01-01

    A sample mission sequence is defined for a low earth orbit demonstration of Precision Formation Flying (PFF). Various guidance navigation and control strategies are discussed for use in the PFF experiment phases. A sample PFF experiment is implemented and tested in a realistic Hardware-in-the-Loop (HWIL) simulation using the Formation Flying Test Bed (FFTB) at NASA's Goddard Space Flight Center.

  1. DIOXIN AND FURAN FORMATION ON FLY ASH FROM A MIXTURE OF CHLOROPHENOLS

    Science.gov (United States)

    To establish the relationship between specific chlorophenol (CP) congener distributions and polychlorinated dibenzo-p-dioxin and dibenzofuran (PCDD/F) products this work investigated the formation of PCDDs/Fs from different CP mixtures passed over fly ash under selected reaction ...

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

    DEFF Research Database (Denmark)

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

    2015-01-01

    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...

  3. Fly ash formation and sulphation during the combustion of brown coal

    Energy Technology Data Exchange (ETDEWEB)

    Domazetis, G. (and others)

    1987-12-01

    This report presents an overview of investigations into the fly ash formation and sulphation process that occurs when brown coal is burnt. A code has been developed to simulate the chemistry of ash formation. The results of this project show that for the coals considered the chemistry of sodium species in a coal flame is central to the ash formation and fouling. Aluminium based additives have been tested on two Loy Yang coals. The tests show that the additives exert a pronounced influence on ash formation, probably via changes in the heterogeneous condensation of sodium compounds.

  4. Contribution of aluminas and aluminosilicates to the formation of PCDD/Fs on fly ashes.

    Science.gov (United States)

    Potter, Phillip M; Dellinger, Barry; Lomnicki, Slawomir M

    2016-02-01

    Chlorinated aromatics undergo surface-mediated reactions with metal oxides to form Environmentally Persistent Free Radicals (EPFRs) which can further react to produce polychlorinated dibenzo-p-dioxins and dibenzofurans (PCDD/Fs). Previous work using laboratory-made fly ash surrogates composed of transition metal oxides deposited on silica powder has confirmed their ability to mimic fly ash in the production of PCDD/Fs. However, little is known about the propensity of aluminas and aluminosilicates, other components of fly ash, to form PCDD/Fs. A fly ash sample containing both alumina and mullite, an aluminosilicate, was tested for PCDD/F formation ability and compared to PCDD/F yields from the thermal degradation of 2-monochlorophenol (2-MCP) precursor over γ-alumina, α-alumina, and mullite. A packed-bed flow reactor was used to investigate the thermal degradation of 2-MCP over the various catalysts at 200-600 °C. Fly ash gave similar PCDD/F yields to surrogates made with similar transition metal content. γ-alumina, which is thermodynamically unfavorable, was very catalytically active and gave low PCDD/F yields despite a high destruction of 2-MCP. Mullite and α-alumina, the thermodynamically favorable form of alumina, yielded higher concentrations of dioxins and products with a higher degree of chlorine substitution than γ-alumina. The data suggest that certain aluminas and aluminosilicates, commonly found in fly ash, are active catalytic surfaces in the formation of PCDD/Fs in the post-flame cool zones of combustion systems and should be considered as additional catalytic surfaces active in the process. PMID:26615490

  5. Autonomous flying robots

    CERN Document Server

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

    2010-01-01

    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

  6. 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

    2005-01-01

    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.

  7. Decentralized Formation Flying Control in a Multiple-Team Hierarchy

    Science.gov (United States)

    Mueller, Joseph .; Thomas, Stephanie J.

    2005-01-01

    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.

  8. ISIS : a formation flying ionospheric seismic imaging experiment

    Science.gov (United States)

    Mimoun, D.; Lognonné, Ph; Garcia, R.; Occhipinti, G.; Abbondanza, S.

    Today, available techniques for the lithosphere tomography are limited by the number of seismic stations that we can deploy : it is sometimes difficult to access to some remote regions, but foremost the number of stations that are deployable over the oceans is strongly reduced. If we can dispose of some sites on islands (which are all characterized by a strong background noise), and on the measurements on coastal areas borders, it is therefore difficult to inverse the fine structure of the oceanic lithosphere. A promising idea is to use a long known idea, that earthquakes have a measurable impact on the ionosphere. As a matter of fact, the decrease of the atmosphere density with respect to altitude implies an amplification of the Rayleigh waves in the atmosphere, up to a maximum at about 250 km. This effect has been quantified for the Denali earthquake (Ducic et al, 2003) though its impact on the TEC content on the ionosphere. We therefore propose to detect this effect from space, thanks to a spaceborne multistatic SAR. Our concept includes 3 satellites in formation (along the same orbit) in a MEO orbit (about 19000 km). The master satellite payload is a slightly modified SAR, which operates around two main frequencies, in order to allow the computation of the delay induced by ionospheric fluctuations. The two other satellites have a passive payload which is time-synchronized with the master SAR: the use of their crossing rays will allow a 3D reconstruction of the ionosphere. A preliminary design of the space segment proposes an implementation on a MEO-orbit compatible bus, with high peak power capabilities. In order to allow the compatibility of the payload concept with the on-board available power, we have assumed that the satellite will enter in its alert mode on ground request. When an earthquake occurs, we dispose of a ten minutes delay to "wake-up" the satellite. When not in alert mode, its nominal imaging frequency will be reduced to allow the detection of

  9. Development and testing of model predictive control strategies for spacecraft formation flying

    OpenAIRE

    Valmorbida, Andrea

    2014-01-01

    Satellite Formation Flying (SFF) is a key technology for several future missions, since, with respect to a single spacecraft, it allows better performances, new capabilities, more flexibility and robustness to failure and cost reduction. Despite these benefits, however, this new concept poses several signicant design challenges and requires new technologies. The Guidance, Navigation and Control (GNC) system is a key element in the SFF concept since it must be reliable in coordinating all the ...

  10. Profile formation and sustainment of autonomous tokamak plasma with current hole configuration

    International Nuclear Information System (INIS)

    We have investigated the profile formation and sustainment of tokamak plasmas with the current hole (CH) configuration by using 1.5D time-dependent transport simulations. A model of the current limit inside the CH on the basis of the Axisymmetric Tri-Magnetic-Islands equilibrium is introduced into the transport simulation. We found that a transport model with the sharp reduction of anomalous transport in the reversed-shear (RS) region can reproduce the time evolution of profiles observed in JT-60U experiments. The transport becomes neoclassical-level in the RS region, which results in the formation of profiles with internal transport barrier (ITB) and CH. The CH plasma has an autonomous property because of the strong interaction between a pressure profile and a current profile through the large bootstrap current fraction. The ITB width determined by the neoclassical-level transport agrees well with that measured in JT-60U. The energy confinement inside the ITB agrees with the scaling based on the JT-60U data. The scaling means the autonomous limitation of energy confinement in the CH plasma. The plasma with the large CH is sustained with the full current drive by the bootstrap current. The plasma with the small CH and the small bootstrap current fraction shrinks due to the penetration of inductive current. This shrink is prevented and the CH size can be controlled by the appropriate external current drive (CD). The CH plasma is found to respond autonomically to the external CD. (author)

  11. A survey on pattern formation of autonomous mobile robots: asynchrony, obliviousness and visibility

    International Nuclear Information System (INIS)

    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

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

    Directory of Open Access Journals (Sweden)

    Xianbo Xiang

    2010-02-01

    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.

  13. Looking Back and Looking Forward: Reprising the Promise and Predicting the Future of Formation Flying and Spaceborne GPS Navigation Systems

    Science.gov (United States)

    Bauer, Frank H.; Dennehy, Neil

    2015-01-01

    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.

  14. Fly ash formation and sulphation during the combustion of brown coal

    Energy Technology Data Exchange (ETDEWEB)

    Domazetis, G.; Lovelace, P. (State Electricity Commission of Victoria, Melbourne, Vic. (Australia))

    1988-02-01

    This report deals with the extension of the NERDDP project 'Fly Ash Formation and Sulphation during the combustion of Brown Coal', completed in 1987, and describes improvements in the computer code SCCOFF, which simulates the chemical kinetics of brown coal combustion. Modification of SCCOFF has improved its user interface, allowed time-temperature profiles and constant pressure conditions to be included in SCCOFF's numerical integration routines, calculates sulphuric acid dewpoints, and combustion heat relase profiles. A sensitivity analysis of hypothetical sodium silicate reactions has been carried out. The results show that the extent and rate of formation of sodium silicate is not critically dependent on the rate constants of the proposed reaction scheme. The formation of sodium sulphate however, shows great sensitivity to the rate of sodium silicate formation. It is planned to produce an engineering version of SCCOFF. This can be accomplished through collaboration with research groups in the United States.

  15. A Hardware-in-the-Loop Testbed for Spacecraft Formation Flying Applications

    Science.gov (United States)

    Leitner, Jesse; Bauer, Frank H. (Technical Monitor)

    2001-01-01

    The Formation Flying Test Bed (FFTB) at NASA Goddard Space Flight Center (GSFC) is being developed as a modular, hybrid dynamic simulation facility employed for end-to-end guidance, navigation, and control (GN&C) analysis and design for formation flying clusters and constellations of satellites. The FFTB will support critical hardware and software technology development to enable current and future missions for NASA, other government agencies, and external customers for a wide range of missions, particularly those involving distributed spacecraft operations. The initial capabilities of the FFTB are based upon an integration of high fidelity hardware and software simulation, emulation, and test platforms developed at GSFC in recent years; including a high-fidelity GPS simulator which has been a fundamental component of the Guidance, Navigation, and Control Center's GPS Test Facility. The FFTB will be continuously evolving over the next several years from a too[ with initial capabilities in GPS navigation hardware/software- in-the- loop analysis and closed loop GPS-based orbit control algorithm assessment to one with cross-link communications and relative navigation analysis and simulation capability. Eventually the FFT13 will provide full capability to support all aspects of multi-sensor, absolute and relative position determination and control, in all (attitude and orbit) degrees of freedom, as well as information management for satellite clusters and constellations. In this paper we focus on the architecture for the FFT13 as a general GN&C analysis environment for the spacecraft formation flying community inside and outside of NASA GSFC and we briefly reference some current and future activities which will drive the requirements and development.

  16. Profile formation and sustainment of autonomous tokamak plasma with current hole configuration

    International Nuclear Information System (INIS)

    We have investigated the profile formation and sustainment of tokamak plasmas with the current hole (CH) configuration by using 1.5 dimensional time-dependent transport simulations. A model of the current limit inside the CH on the basis of the Axisymmetric Tri-Magnetic-Islands equilibrium is introduced into the transport simulation. We found that a transport model with the sharp reduction of anomalous transport in the reversed-shear (RS) region can reproduce the time evolution of profiles observed in JT-60U experiments. The transport becomes neoclassical-level in the RS region, which results in the formation of profiles with internal transport barrier (ITB) and CH. The CH plasma has an autonomous property because of the strong interaction between a pressure profile and a current profile through the large bootstrap current. The ITB width determined by the neoclassical-level transport agrees well with that measured in JT-60U. The energy confinement inside the ITB agrees with the scaling based on the JT-60U data. The scaling means that the core plasma inside ITB is governed by the MHD equilibrium limit, i.e. the autonomous limitation of energy confinement in the CH plasma. The plasma with the large CH is sustained with the full current drive by the bootstrap current. The plasma with the small CH and the small bootstrap current fraction shrinks due to the penetration of inductive current. This shrink is prevented and the CH size can be controlled by the appropriate external current drive (CD). The CH plasma is found to respond autonomically to the external CD. The application of the CH plasma to the tokamak reactor is discussed

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

    CERN Document Server

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

    2013-01-01

    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 ...

  18. Formation flying within a constellation of nano-satellites the QB50 mission

    OpenAIRE

    Gill, E.K.A.; Sundaramoorthy, P.; J. Bouwmeester; Zandbergen, B.; Reinhard, R.

    2010-01-01

    QB50 is a mission establishing an international network of 50 nano-satellites for multi-point, in-situ measurements in the lower thermosphere and re-entry research. As part of the QB50 mission, the Delft University of Technology intends to contribute two nano-satellites both being equipped with a highly miniaturized propulsion system in addition to the science payload. This allows to demonstrate formation flying between these two nano-satellites which will enhance the mission both with respec...

  19. Finite-time output feedback attitude coordination control for formation flying spacecraft without unwinding

    Science.gov (United States)

    Guo, Yong; Song, Shen-Min; Li, Xue-Hui

    2016-05-01

    In this paper, two finite-time attitude coordinated controllers for formation flying spacecraft are investigated based on rotation matrix. Because rotation matrix can represent the set of attitudes both globally and uniquely, the two controllers can deal with unwinding that can result in extra fuel consumption. To address the lack of angular velocity measurement, the second attitude coordinated controller is given by using a novel filter. Through homogeneous method and Lyapunov theories, it is shown that the proposed controllers can achieve the finite-time stability. Numerical simulations also demonstrate that the proposed control schemes are effective.

  20. One Year of In-Flight Results from the Prisma Formation Flying Demonstration Mission

    OpenAIRE

    Pokrupa, Nils; Ahlgren, Niklas; Karlsson, Thomas; Bodin, Per; Larsson, Robin

    2011-01-01

    The Prisma smallsat in-orbit test-bed was launched on the 15th of June, 2010 to demonstrate strategies and technologies for formation flying and rendezvous. The mission consists of two spacecraft: Mango and Tango. Mango is 3-axis stabilized and is equipped with a propulsion system providing full 3D orbit control capability. Tango has a simplified solar magnetic control system and does not have any orbit control capability. The two spacecraft were launched clamped together into a 720/780 km al...

  1. Characterization of high-calcium fly ash and its influence on ettringite formation in portland cement pastes

    Science.gov (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

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

    Directory of Open Access Journals (Sweden)

    Inseok Yang

    2014-01-01

    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.

  3. Mechanism of polychlorinated diphenyl ether formation on a simulated fly ash surface

    International Nuclear Information System (INIS)

    Polychlorinated diphenyl ethers (PCDEs) are a focus of current environmental concern. The formation of PCDEs was investigated using laboratory-scale flow reactors under air and under nitrogen at 350 oC. The results show the amount of PCDEs formed from the condensation of pentachlorophenol (PCP) and 1,2,4,5-tetrachlorobenzene (1,2,4,5-Cl4Bz) was lower with oxygen than without oxygen, and the PCDE homologue distribution was different under both atmospheres. The presence of oxygen influenced the process of PCDE formation from precursors on the fly ash surface. Furthermore, 2,2',3,4,4',5,5',6-octachlorodiphenyl ether (OCDE) is the dominant PCDE homologue product formed on the surface of SiO2, whereas decachlorodiphenyl ether (DecaCDE) was the predominant product formed on the SiO2/FeCl3 and SiO2/CuCl2 surfaces. The PCDE homologue distribution shifted toward the more chlorinated species in the presence of FeCl3 and CuCl2. The simultaneous formation of polychlorinated dibenzo-p-dioxins and dibenzofurans (PCDD/Fs) was also observed during the formation of PCDEs from heterogeneous reactions of precursors. These findings suggest that the emission of PCDEs from municipal waste incineration plants should be considered, and careful and sophisticated control is required to prevent the formation of pollutants.

  4. Autonomous navigation of a spacecraft formation in the proximity of an asteroid

    Science.gov (United States)

    Vetrisano, Massimo; Vasile, Massimiliano

    2016-04-01

    This paper presents a multi-sensor navigation approach to allow a formation of spacecraft to autonomously navigate in the proximity of a Near Earth Asteroid. Multiple measurements collected by on-board cameras, attitude sensors and LIDAR are used to estimate the state of each spacecraft with respect to the asteroid. Inter-spacecraft position measurements are then combined with spacecraft-to-asteroid position measurements to improve accuracy. The paper analyses the use of different filtering techniques to estimate the state of a 4-spacecraft formation with respect to the asteroid. Different combinations of measurements are constructed to evaluate the improvement in navigation performance offered by the data fusion of the measurements gathered by the four spacecraft. Moreover the robustness of the navigation system is tested against the occurrence of failures. Results show that the navigation performance is significantly improved by adding the inter-spacecraft position measurements. Finally, an asteroid orbit determination method is proposed that combines asteroid's line of sight measurements from multiple spacecraft and Sun Doppler shift sensor with spacecraft-to-ground tracking data. Different approach configurations are evaluated for a 2-spacecraft formation and it is shown that the integrated use of spacecraft-to-asteroid and ground-to-spacecraft measurements provides an effective way to improve the ephemerides of the asteroid.

  5. Control of Formation-Flying Multi-Element Space Interferometers with Direct Interferometer-Output Feedback

    Science.gov (United States)

    Lu, Hui-Ling; Cheng, H. L.; Lyon, Richard G.; Carpenter, Kenneth G.

    2007-01-01

    The long-baseline space interferometer concept involving formation flying of multiple spacecraft holds great promise as future space missions for high-resolution imagery. A major challenge of obtaining high-quality interferometric synthesized images from long-baseline space interferometers is to accurately control these spacecraft and their optics payloads in the specified configuration. Our research focuses on the determination of the optical errors to achieve fine control of long-baseline space interferometers without resorting to additional sensing equipment. We present a suite of estimation tools that can effectively extract from the raw interferometric image relative x/y, piston translational and tip/tilt deviations at the exit pupil aperture. The use of these error estimates in achieving control of the interferometer elements is demonstrated using simulated as well as laboratory-collected interferometric stellar images.

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

    Science.gov (United States)

    Esfahani, N. R.; Khorasani, K.

    2016-05-01

    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.

  7. Distributions, profiles and formation mechanisms of polychlorinated naphthalenes in cement kilns co-processing municipal waste incinerator fly ash.

    Science.gov (United States)

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

    2016-07-01

    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. PMID:27135696

  8. Definition of Relative Orbit Elements of Spacecraft Formation Flying for Purpose of Orbit Design

    Science.gov (United States)

    Xiao, Yelun

    Much efforts have been made to the research concerning the dynamical characteristics of spacecraft formation flying, several articles have been published including the authors' IAC papers IAF-98-A.2.06, IAA-99-IAA.11.1.09, IAA-01-IAA.11.4.08. The problem can be deduced to the issue of relative orbit motion of one satellite called accompany satellite around another called reference or central satellite, the latter being supposed to move in circular or near-circular orbit and to have equal semimajor axis as the former. It has been shown that the trajectory of relative motion is an ellipse constantly fixed to the orbital frame of the central satellite. It is known that the relative motion is completely determined by initial state of relative motion x0, y0, z0, vx0, vy0, vz0 (called parameter set 1). On the other hand the relative motion is caused by difference in eccentricity vectors and by non-coplanarity vector and influenced by the angle btw. the two vectors (called parameter set 2). Now the authors try to define relative orbit elements determining all geometrical and kinematical properties of the relative motion and having clear physical meaning similar to traditional orbit elements. Based on deep study of the dynamical characteristics we decide to define the elements as follows: (1) semimajor axis of the ellipse of relative trajectory; (2 and 3) elevation and azimuth angles of the normal determining the orientation of the relative motion plane wrt the reference orbit frame; (4) argument of latitude at epoch (initial instant) of reference satellite and (5) phase angle of the accompany satellite at epoch. These are minimum-required and independent elements. All others are secondary (or derived) parameters. For example, aspect ratio, i.e., ratio of major axis to minor axis, describing the shape of relative trajectory, is determined by elements 2 and 3, because of the inherent property that the projection of relative trajectory on reference orbit plane must be a 2

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

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    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.

  10. USEFUL RELATIVE MOTION DESCRIPTION METHOD FOR PERTURBATIONS ANALYSIS IN SATELLITE FORMATION FLYING

    Institute of Scientific and Technical Information of China (English)

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

    2005-01-01

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

    Science.gov (United States)

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

    2016-07-19

    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. PMID:27347728

  12. Scaled-model guidelines for formation-flying solar coronagraph missions.

    Science.gov (United States)

    Landini, Federico; Romoli, Marco; Baccani, Cristian; Focardi, Mauro; Pancrazzi, Maurizio; Galano, Damien; Kirschner, Volker

    2016-02-15

    Stray light suppression is the main concern in designing a solar coronagraph. The main contribution to the stray light for an externally occulted space-borne solar coronagraph is the light diffracted by the occulter and scattered by the optics. It is mandatory to carefully evaluate the diffraction generated by an external occulter and the impact that it has on the stray light signal on the focal plane. The scientific need for observations to cover a large portion of the heliosphere with an inner field of view as close as possible to the photospheric limb supports the ambition of launching formation-flying giant solar coronagraphs. Their dimension prevents the possibility of replicating the flight geometry in a clean laboratory environment, and the strong need for a scaled model is thus envisaged. The problem of scaling a coronagraph has already been faced for exoplanets, for a single point source on axis at infinity. We face the problem here by adopting an original approach and by introducing the scaling of the solar disk as an extended source. PMID:26872181

  13. Design and Analysis of a Formation Flying System for the Cross-Scale Mission Concept

    Science.gov (United States)

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

    2007-01-01

    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.

  14. Formation of Polychlorinated Biphenyls on Secondary Copper Production Fly Ash: Mechanistic Aspects and Correlation to Other Persistent Organic Pollutants

    OpenAIRE

    Xiaoxu Jiang; Guorui Liu; Mei Wang; Minghui Zheng

    2015-01-01

    Emission of unintentionally formed polychlorinated biphenyls (PCBs) from industrial thermal processes is a global issue. Because the production and use of technical PCB mixtures has been banned, industrial thermal processes have become increasingly important sources of PCBs. Among these processes, secondary copper smelting is an important PCB source in China. In the present study, the potential for fly ash-mediated formation of PCBs in the secondary copper industry, and the mechanisms involve...

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

    OpenAIRE

    Hao WU; Shafique Bashir, Muhammad; Jensen, Peter Arendt; Sander, Bo; Glarborg, Peter

    2013-01-01

    Ash transformation and deposition in a pulverized wood-fired power plant boiler of 800 MWth were studied with and without the addition of coal fly ash. The transient ash deposition behavior was investigated by using an advanced deposit probe system at two different boiler locations with flue gas 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 ...

  16. Formation of Polychlorinated Biphenyls on Secondary Copper Production Fly Ash: Mechanistic Aspects and Correlation to Other Persistent Organic Pollutants

    Science.gov (United States)

    Jiang, Xiaoxu; Liu, Guorui; Wang, Mei; Zheng, Minghui

    2015-09-01

    Emission of unintentionally formed polychlorinated biphenyls (PCBs) from industrial thermal processes is a global issue. Because the production and use of technical PCB mixtures has been banned, industrial thermal processes have become increasingly important sources of PCBs. Among these processes, secondary copper smelting is an important PCB source in China. In the present study, the potential for fly ash-mediated formation of PCBs in the secondary copper industry, and the mechanisms involved, were studied in laboratory thermochemical experiments. The total PCB concentrations were 37-70 times higher than the initial concentrations. Thermochemical reactions on the fly ash amplified the potential toxic equivalents of PCBs. The formation of PCBs over time and the effect of temperature were investigated. Based on analyses of PCB homologue profiles with different reaction conditions, a chlorination mechanism was proposed for forming PCBs in addition to a de novo synthesis mechanism. The chlorination pathway was supported by close correlations between each pair of adjacent homologue groups. Formation of PCBs and multiple persistent organic pollutants, including polychlorinated dibenzo-p-dioxins, polychlorinated dibenzofurans and polychlorinated naphthalenes, occurred during the tests, indicating that these compounds may share similar formation mechanisms.

  17. Environmental Tracking and Formation Control for an Autonomous Underwater Vehicle Platoon with Limited Communication

    OpenAIRE

    Roberson, David Gray

    2008-01-01

    A platoon of autonomous underwater vehicles provides a compelling platform for studying many challenging issues in multi-agent cooperative control. These challenges include developing cooperative algorithms suitable to practical multi-vehicle applications. They also include addressing intervehicle communication issues, such as sharing information via limited bandwidth channels and selecting network architecture to facilitate control design. This work addresses problems in each of these areas....

  18. High throughput preparation of fly genomic DNA in 96-well format using a paint-shaker.

    Science.gov (United States)

    Lang, Michael; Nagy, Olga; Lang, Claus; Orgogozo, Virginie

    2015-07-01

    Sample homogenization is an essential step for genomic DNA extraction, with multiple downstream applications in Molecular Biology. Genotyping hundreds or thousands of samples requires an automation of this homogenization step, and high throughput homogenizer equipment currently costs 7000 euros or more. We present an apparatus for homogenization of individual Drosophila adult flies in 96-well micro-titer dishes, which was built from a small portable paint-shaker (F5 portable paint-shaker, Ushake). Single flies are disrupted in each well that contains extraction buffer and a 4-mm metal ball. Our apparatus can hold up to five 96-well micro-titer plates. Construction of the homogenizer apparatus takes about 3-4 days, and all equipment can be obtained from a home improvement store. The total material cost is approximately 700 euros including the paint-shaker. We tested the performance of our apparatus using the ZR-96 Quick-gDNA™ kit (Zymo Research) homogenization buffer and achieved nearly complete tissue homogenization after 15 minutes of shaking. PCR tests did not detect any cross contamination between samples of neighboring wells. We obtained on average 138 ng of genomic DNA per fly, and DNA quality was adequate for standard PCR applications. In principle, our tissue homogenizer can be used for isolation of DNA suitable for library production and high throughput genotyping by Multiplexed Shotgun Genotyping (MSG), as well as RNA isolation from single flies. The sample adapter can also hold and shake other items, such as centrifuge tubes (15-50 mL) or small bottles. PMID:26818699

  19. Propellantless Spacecraft Formation-Flying and Maneuvering with Photonic Laser Thrusters Project

    Data.gov (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...

  20. Earth Observation Convoy: Synergetic Observations with Satellites Flying in Formation with European Operational Missions - Possibilities for New Science

    Science.gov (United States)

    Regan, A.; Silvestrin, P.; Fernandez, D.; Leveque, N.; Eves, S.

    2012-04-01

    Over the next few years a number of new long-term operational Earth Observation (EO) satellites will be launched by Europe. These missions include the GMES (Global Monitoring for Environment and Security) Sentinel spacecraft and the EUMETSAT operated Metop satellite series. These missions will provide global, continuous and long-term European capability for systematic observation of a panoply of Earth system parameters. If additional cost-effective missions could be flown together with these operational missions then the possibilities for meeting new Earth science and application objectives could be far-reaching e.g. fulfilling observational gaps, multipoint measurement of Earth system phenomena, etc. Therefore, the European Space Agency (ESA) is funding three exploratory activities (known as the EO-Convoy studies). The aim of these studies is two fold: Firstly, to identify scientific and operational objectives and needs which would benefit from additional in-orbit support. Secondly, to identify and develop a number of cost-effective mission concepts that would meet these identified objectives and needs. Each EO Convoy study is dedicated to a specific theme: • Study 1: Ocean and Ice • Study 2: Land • Study 3: Atmosphere Each study is based on a comprehensive user needs analysis derived from Earth science analysis, applications and identification of novel data products. Based on this analysis a number of preliminary mission concepts are derived together with possible formation and constellation options. Up to three mission concepts per theme are then selected for detailed analysis including a roadmap for development. For the Ocean and Ice EO Convoy study the scientific analysis identified a number of areas where support measurements from additional satellites would prove valuable e.g. ocean topography and ocean currents, ocean colour, sea surface salinity, sea-ice drift and thickness, sea-ice melt on-set and duration, snow accumulation on ice sheets, freeze

  1. FORMATION OF PERIODICALS IN KHANTYMANSI AUTONOMOUS DISTRICT IN THE 1930-1950-IES

    Directory of Open Access Journals (Sweden)

    N. S. Kharina

    2016-01-01

    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

  2. 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

    2007-01-01

    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.

  3. Formation process of Na-X zeolites from coal fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Tanaka, H.; Matsumura, S.; Hino, R. [Shimane University, Shimane (Japan). Faculty of Science & Engineering

    2004-03-01

    In order to synthesize Na-X zeolite from coal fly ash (Fa), Fa was pretreated under stirring condition at various temperatures of 20-50{sup o}C for 72 h and then aged at 85{sup o}C for a given period with NaOH solutions. The resulting materials were characterized by various means. When Fa was aged for 72 h without pretreatment, species P were formed. As the pretreating temperature raised from 20 to 50{sup o}C, the degree of crystallinity of faujasite increased, while that of species P decreased. The faujasite species formed was identified as Na-X zeolite with molar ratio SiO{sub 2}/Al{sub 2}O{sub 3} = 2.4. When Fa was pretreated at 50{sup o}C and aged for 60 h, the only species formed was Na-X zeolite. Increasing the pretreating temperature up to 50{sup o}C results in the increase of Si{sup 4+} and Al{sup 3+} concentrations in the treating solution by dissolution of amorphous material in Fa. With the conditions used, the crystalline phase, such as alpha-quartz and mullite, was poorly dissolved during the treatment. Hence, the higher pretreating temperature would give the uniform nucleation and crystal growth of Na-X zeolite during the aging.

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

    CERN Document Server

    Fragner, Moritz

    2009-01-01

    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...

  5. FORMATION OF POLYCHLORINATED DIBENZO-P-DIOXINS AND DIBENZOFURANS FROM A MIXTURE OF CHLOROPHENOLS OVER FLY ASH: INFLUENCE OF WATER VAPOR

    Science.gov (United States)

    To offer a polychlorinated dibenzo-p-dioxins (PCDDs) and dibenzofurans (PCDFs) parameter for plant operation control, the on-line estimation of PCDD/Fs emissions by surrogates like chlorophenols is useful. Formation of PCDD/Fs over fly ash was studied in an isothermal (310 degree...

  6. Bio-inspired vision-based flying robots

    OpenAIRE

    Zufferey, Jean-Christophe; Floreano, Dario

    2007-01-01

    There are not yet autonomous flying robots capable of manoeuvring in small cluttered environments as insects do. Encouraged by this observation, this thesis presents the development of ultra-light flying robots and control systems going one step toward fully autonomous indoor aerial navigation. The substantial weight and energy constraints imposed by this indoor flying robots preclude the use of powerful processors and active distance sensors. Moreover, flying systems require fast sensory-mot...

  7. Bio-inspired vision-based flying robots

    OpenAIRE

    Zufferey, Jean-Christophe

    2005-01-01

    There are not yet autonomous flying robots capable of manoeuvring in small cluttered environments as insects do. Encouraged by this observation, this thesis presents the development of ultra-light flying robots and control systems going one step toward fully autonomous indoor aerial navigation. The substantial weight and energy constraints imposed by this indoor flying robots preclude the use of powerful processors and active distance sensors. Moreover, flying systems require fast sensory-mot...

  8. Searching for life with the Terrestrial Planet Finder: Lagrange point options for a formation flying interferometer

    Science.gov (United States)

    Beichman, C.; Gomez, G.; Lo, M.; Masdemont, J.; Romans, L.

    2002-01-01

    In this paper, we describe the mission design for TPF assuming a distributed spacecraft concept using formation flight around both a halo orbit around L2 as well as a heliocentric orbit. Although the mission architecture is still under study, the next two years will include study of four design cncepts and a downselect to two concepts around 2005.

  9. 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

    2016-01-01

    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.

  10. Autonomous Navigation Airborne Forward-Looking SAR High Precision Imaging with Combination of Pseudo-Polar Formatting and Overlapped Sub-Aperture Algorithm

    OpenAIRE

    Xueming Peng; Yanping Wang; Wen Hong; Weixian Tan; Yirong Wu

    2013-01-01

    Autonomous navigation airborne forward-looking synthetic aperture radar (SAR) observes the anterior inferior wide area with a short cross-track dimensional linear array as azimuth aperture. This is an application scenario that is drastically different from that of side-looking space-borne or air-borne SAR systems, which acquires azimuth synthetic aperture with along-track dimension platform movement. High precision imaging with a combination of pseudo-polar formatting and overlapped sub-apert...

  11. 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

    2015-01-01

    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.

  12. The use of fly ash and metakaolin for the prevention of alkali-silica reaction and delayed ettringite formation in concrete

    OpenAIRE

    Silva, A. Santos; Ribeiro, A. Bettencourt; Jalali, Said; Divet, Loic

    2006-01-01

    One of the most popular preventive measures to minimize the occurrence of chemical expansive reactions, namely the alkali-silica reaction (ASR) and delayed ettringite formation (DEF) in hardened concrete is the use of supplementary cementing materials (SCMs). Several studies have been performed along the last few years related with the use of fly ashes in the suppression of expansion due to ASR. However, relatively little attention are been focused in its effectiveness to control the DEF in c...

  13. The use of fly ashes and metakaolin for the prevention of alkali-silica reaction and delayed ettringite formation in concrete

    OpenAIRE

    Santos Silva, A.; BETTENCOURT RIBEIRO, A; Jalali, S; DIVET, L

    2006-01-01

    One of the most popular preventive measures to minimize the occurrence of chemical expansive reactions, namely the alkali-silica reaction (ASR) and delayed ettringite formation (DEF) in hardened concrete is the use of supplementary cementing materials (SCMs). Several studies are been performed along the last years related the use of fly ashes in the suppression of expansion due to ASR. However, relatively little attention are been focused in its effectiveness to control the DEF in concrete, a...

  14. Collision Factor Analysis for Formation-flying Satellites%编队卫星碰撞因素分析

    Institute of Scientific and Technical Information of China (English)

    杨雪榕; 陈忠贵; 赵健康; 梁加红

    2009-01-01

    The factors affecting collision probabilities between formation-flying satellites are discussed and generalized, for the purpose of increasing the accuracy of the collision detection and forecast. A difference equation of Hill' s equation is derived for the Kalman filter, which is used to estimate the target satellite' s status. Based on these equations, such four factors as model errors, measurement errors, malfunctions and accidental events are analyzed in detail. Several simulation scenarios are also executed for the factors. The simulation results show that the controller always-functioning malfunctions is the worse collision factor, which needs further researches for a specific collision avoiding scheme.%为了便于更准确地进行编队卫星碰撞检测和预报,对影响星间碰撞概率的因素进行了归纳和讨论.给出了编队卫星碰撞概率计算公式,并从Hill方程推导了离散差分方程,建立Kalman滤波器,用于估计编队飞行状态.在此基础上,对引起编队卫星发生碰撞的模型误差、测量误差、故障和意外因素四个方面进行了分析.最后,针对各因素设置了典型仿真想定并进行了仿真,仿真结果显示控制器常开故障是影响最大的因素,工程应用中需要针对它进行专门的防碰撞方案研究.

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

    Science.gov (United States)

    Pimnoo, Ammarin

    2016-07-01

    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.

  16. Agent, autonomous

    OpenAIRE

    Luciani, Annie

    2007-01-01

    The expression autonomous agents, widely used in virtual reality, computer graphics, artificial intelligence and artificial life, corresponds to the simulation of autonomous creatures, virtual (i.e. totally computed by a program), or embodied in a physical envelope, as done in autonomous robots.

  17. 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;

    2013-01-01

    Ash transformation and deposition in a pulverized wood-fired power plant boiler of 800 MWth were studied with and without the addition of coal fly ash. The transient ash deposition behavior was investigated by using an advanced deposit probe system at two different boiler locations with flue gas...... ash) to the boiler, these alkali species were effectively removed both in the fly ash and in the deposits, and a more frequent shedding of the deposits was observed. The results imply that coal fly ash can be an effective additive to reduce ash deposition and corrosion problems in a pulverized wood-fired...... at the low-temperature location showed a slow initial build-up and a stable mass of deposits after approximately 1-5 h. The deposits collected during pulverized wood combustion contained a considerable amount of K2SO4, KCl, and KOH/K2CO3. With the addition of coal fly ash (~4 times of the mass flow of wood...

  18. Autonomous Navigation Airborne Forward-Looking SAR High Precision Imaging with Combination of Pseudo-Polar Formatting and Overlapped Sub-Aperture Algorithm

    Directory of Open Access Journals (Sweden)

    Xueming Peng

    2013-11-01

    Full Text Available Autonomous navigation airborne forward-looking synthetic aperture radar (SAR observes the anterior inferior wide area with a short cross-track dimensional linear array as azimuth aperture. This is an application scenario that is drastically different from that of side-looking space-borne or air-borne SAR systems, which acquires azimuth synthetic aperture with along-track dimension platform movement. High precision imaging with a combination of pseudo-polar formatting and overlapped sub-aperture algorithm for autonomous navigation airborne forward-looking SAR imaging is presented. With the suggested imaging method, range dimensional imaging is operated with wide band signal compression. Then, 2D pseudo-polar formatting is operated. In the following, azimuth synthetic aperture is divided into several overlapped sub-apertures. Intra sub-aperture IFFT (Inverse Fast Fourier Transform, wave front curvature phase error compensation, and inter sub-aperture IFFT are operated sequentially to finish azimuth high precision imaging. The main advantage of the proposed algorithm is its extremely high precision and low memory cost. The effectiveness and performance of the proposed algorithm are demonstrated with outdoor GBSAR (Ground Based Synthetic Aperture Radar experiments, which possesses the same imaging geometry as the airborne forward-looking SAR (short azimuth aperture, wide azimuth swath. The profile response of the trihedral angle reflectors, placed in the imaging scene, reconstructed with the proposed imaging algorithm and back projection algorithm are compared and analyzed.

  19. TEMPERATURE AND CONCENTRATION EFFECTS ON THE DIOXIN AND FURAN FORMATION FROM A MIXTURE OF CHLOROPHENOLS OVER FLY ASH

    Science.gov (United States)

    Chlorophenols have been studied as precursors to PCDD/F formation but generally these experiments have been carried out with unrepresentative concentrations and potentially overlapping formation mechanisms. Research has demonstrated that the kinetics of PCDD formation from chloro...

  20. Experimental study of fly-ash migration under controlled water regime. Temperature and moisture calibration and preliminary results on sand formations

    International Nuclear Information System (INIS)

    Complete text of publication follows. Soil magnetometry can serve as proxy for industrial immisions as well as heavy-metal contamination. An important methodological question related to measurements of top soil magnetic susceptibility is whether migration of deposited anthropgenic ferrimagnetics influences the measured values. In spite o the fact that reliable mapping of magnetic susceptibility requires a high temporal stability of accumulated industrial immisions in topsoils, precise knowledge on the mobility of anthropogenic ferrimagnetics in vertical soil profile (and factors affecting this process) is still lacking. In our model experiments in laboratory we used three technical sands with different particle sizes (0.10 - 1.25 mm). Sands in plastic cylinders were contaminated on the surface by fly-ashes from coal-burning power plant. Soil moisture sensors were used to monitor water regime within the sand columns after controlled rain simulation.Vertical migration of ferrimagnetic particles-tracers presented in the fly-ash was measured by SM400 Kappameter. As a first step, calibration measurements were carried out. in order to define the effect of temperature and different moisture on susceptibility values measured by SM400. We observed systematic increase of susceptibility (∼4 x 10-4SI) for realistic temperature interval in water saturated sand column (from 10 to 26 deg C). On the contrary, diamagnetic effect of water content on magnetic susceptibility is very low (-10-5SI). Preliminary results indicated that after the pulls infiltration of defined water volume, gradual decreases of susceptibility peak values were detected in all studied sand formations. Fly-ash migrated more or less freely in coarse sand material. In medium and fine sand the contaminants moved only to the depths of several cm due to the pore-space blocking and water flow decrease. This research is supported by the Grant Agency ASCR under grant IAA300120701.

  1. THE FORMATION OF THE FACULTY: INTERCULTURAL EDUCATION IN ACCOUNTING, ADMINISTRATIVE AND FISCAL INDIGENOUS AUTONOMOUS UNIVERSITY OF MEXICO

    Directory of Open Access Journals (Sweden)

    Anet Yuriria de Jesús López-Corrales

    2015-07-01

    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.

  2. 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)

    1995-12-01

    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.

  3. Time flies

    DEFF Research Database (Denmark)

    Wit, Janneke

    The red thread of this dissertation is ageing, or life span, of Drosophila melanogaster. Because D. melanogaster is a model organism of which many basic molecular mechanisms are conserved in humans, studying ageing and its effects on a suite of functions in this organism helps to understand ageing...... result, 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......, 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...

  4. Dual-quaternion based fault-tolerant control for spacecraft formation flying with finite-time convergence.

    Science.gov (United States)

    Dong, Hongyang; Hu, Qinglei; Ma, Guangfu

    2016-03-01

    Study results of developing control system for spacecraft formation proximity operations between a target and a chaser are presented. In particular, a coupled model using dual quaternion is employed to describe the proximity problem of spacecraft formation, and a nonlinear adaptive fault-tolerant feedback control law is developed to enable the chaser spacecraft to track the position and attitude of the target even though its actuator occurs fault. Multiple-task capability of the proposed control system is further demonstrated in the presence of disturbances and parametric uncertainties as well. In addition, the practical finite-time stability feature of the closed-loop system is guaranteed theoretically under the designed control law. Numerical simulation of the proposed method is presented to demonstrate the advantages with respect to interference suppression, fast tracking, fault tolerant and practical finite-time stability. PMID:26775087

  5. Influence of fly ash and metakaolin in the inhibition of delayed ettringite formation in concrete : A microstructural characterization

    OpenAIRE

    Soares, D.; CANDEIAS, AE; DIVET, L; Santos Silva, A.

    2007-01-01

    In the last few years it has been observed in Portugal, as well as in other countries worldwide, several cases of concretes structures affected by internal expansive reactions, particularly by delayed ettringite formation (DEF). This pathology, which is macroscopically characterized by the occurence of cracks and fissures in concrete due to the expansion of the reaction product, is very difficult to deal with, because presently there isn't any efficient method to repair structures affected by...

  6. Flying Scared

    DEFF Research Database (Denmark)

    Dal Sie, Marco; Josiassen, Alexander

    In light of the burgeoning growth of long-haul LCCs in Southeast Asia, the study constructs a model aimed at comprehending which factors lead passengers to choose full-service rather than no-frills carriers on long-range flights. In particular, the research aims at determining to what extent...... 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...

  7. Flying Cities

    DEFF Research Database (Denmark)

    Herbelin, Bruno; Lasserre, Sebastien; Ciger, Jan

    2008-01-01

    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....... This cross-modal interaction not only supports our artistic messages, but also aims at providing anyone with a pleasant and stimulating feedback from her/his speech activity. As the feedback we have received when presenting Flying Cities was very positive, our objective is now to cross the bridge...

  8. Formation flying metrology for the ESA-PROBA3 mission: the Shadow Position Sensors (SPS) silicon photomultipliers (SiPMs) readout electronics

    Science.gov (United States)

    Focardi, M.; Bemporad, A.; Buckley, S.; O'Neill, K.; Fineschi, S.; Noce, V.; Pancrazzi, M.; Landini, F.; Baccani, C.; Capobianco, G.; Romoli, M.; Loreggia, D.; Nicolini, G.; Massone, G.; Thizy, C.; Servaye, J. S.; Renotte, E.

    2015-09-01

    The European Space Agency (ESA) is planning to launch in 2018 the PROBA3 Mission, designed to demonstrate the inorbit formation flying (FF) attitude capability of its two satellites and to observe the inner part of the visible solar corona as the main scientific objective. The solar corona will be observed thanks to the presence on the first satellite, facing the Sun, of an external occulter producing an artificial eclipse of the Sun disk. The second satellite will carry on the coronagraph telescope and the digital camera system in order to perform imaging of the inner part of the corona in visible polarized light, from 1.08 R⦿ up to about 3 R⦿. One of the main metrological subsystems used to control and to maintain the relative (i.e. between the two satellites) and absolute (i.e. with respect to the Sun) FF attitude is the Shadow Position Sensor (SPS) assembly. It is composed of eight micro arrays of silicon photomultipliers (SiPMs) able to measure with the required sensitivity and dynamic range the penumbral light intensity on the Coronagraph entrance pupil. In the following of the present paper we describe the overall SPS subsystem and its readout electronics with respect to the capability to satisfy the mission requirements, from the light conversion process on board the silicon-based SPS devices up to the digital signal readout and sampling.

  9. 基于形成性评价体系的大学生自主学习能力培养探究%A Study on Cultivating Students' Autonomous Learning Competence from the Perspective of Formative Evaluation

    Institute of Scientific and Technical Information of China (English)

    沈海

    2012-01-01

    This paper reports on a study of the college students' autonomous learning competence from the perspective of the formative evaluation and its principles. The result shows that the English teaching activities based on the formative evaluation are actually playing an important role in, cultivating the college students' autonomous learning competence.%本文从形成性评价、形成性评价原则等方面探讨大学生自主学习能力的培养,研究结果表明:基于形成性评价体系所开展的英语教学活动,有助于学生自主学习能力的培养.

  10. 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

    2002-07-01

    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.

  11. Autonomous Search

    CERN Document Server

    Hamadi, Youssef; Saubion, Frédéric

    2012-01-01

    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

  12. Pure Autonomic Failure

    Science.gov (United States)

    ... Drugs GARD Information Navigator FAQs About Rare Diseases Pure autonomic failure Title Other Names: Bradbury Eggleston syndrome; ... Categories: Nervous System Diseases ; RDCRN Summary Summary Listen Pure autonomic failure is characterized by generalized autonomic failure ...

  13. Autonomous operations through onboard artificial intelligence

    Science.gov (United States)

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

    2002-01-01

    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.

  14. Flying Cities

    DEFF Research Database (Denmark)

    Ciger, Jan

    2006-01-01

    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....

  15. Autonomic control of the eye

    Science.gov (United States)

    McDougal, David H.; Gamlin, Paul D.

    2016-01-01

    The autonomic nervous system influences numerous ocular functions. It does this by way of parasympathetic innervation from postganglionic fibers that originate from neurons in the ciliary and pterygopalatine ganglia, and by way of sympathetic innervation from postganglionic fibers that originate from neurons in the superior cervical ganglion. Ciliary ganglion neurons project to the ciliary body and the sphincter pupillae muscle of the iris to control ocular accommodation and pupil constriction, respectively. Superior cervical ganglion neurons project to the dilator pupillae muscle of the iris to control pupil dilation. Ocular blood flow is controlled both via direct autonomic influences on the vasculature of the optic nerve, choroid, ciliary body, and iris, as well as via indirect influences on retinal blood flow. In mammals, this vasculature is innervated by vasodilatory fibers from the pterygopalatine ganglion, and by vasoconstrictive fibers from the superior cervical ganglion. Intraocular pressure is regulated primarily through the balance of aqueous humor formation and outflow. Autonomic regulation of ciliary body blood vessels and the ciliary epithelium is an important determinant of aqueous humor formation; autonomic regulation of the trabecular meshwork and episcleral blood vessels is an important determinant of aqueous humor outflow. These tissues are all innervated by fibers from the pterygopalatine and superior cervical ganglia. In addition to these classical autonomic pathways, trigeminal sensory fibers exert local, intrinsic influences on many of these regions of the eye, as well as on some neurons within the ciliary and pterygopalatine ganglia. PMID:25589275

  16. Autonomous Ornithopter Flight with Sensor-Based Seeking Behavior

    OpenAIRE

    Baek, Stanley Seunghoon

    2011-01-01

    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...

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

    OpenAIRE

    Floreano, Dario; Wood, Robert J.

    2015-01-01

    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...

  18. Towards MAV Autonomous Flight: A Modeling and Control Approach

    OpenAIRE

    Colorado Montaño, Julián

    2010-01-01

    This thesis is about modeling and control of miniature rotary-wing flying vehicles, with a special emphasis on quadrotor and coaxial systems. Mathematical models for simulation and nonlinear control approaches are introduced and subsequently applied to commercial aircrafts: the DraganFlyer and the Hummingbird quadrotors, which have been hardware-modified in order to perform experimental autonomous flying. Furthermore, a first-ever approach for modeling commercial micro coaxial mechanism is pr...

  19. Autonomous Mission Operations Roadmap

    Science.gov (United States)

    Frank, Jeremy David

    2014-01-01

    As light time delays increase, the number of such situations in which crew autonomy is the best way to conduct the mission is expected to increase. However, there are significant open questions regarding which functions to allocate to ground and crew as the time delays increase. In situations where the ideal solution is to allocate responsibility to the crew and the vehicle, a second question arises: should the activity be the responsibility of the crew or an automated vehicle function? More specifically, we must answer the following questions: What aspects of mission operation responsibilities (Plan, Train, Fly) should be allocated to ground based or vehicle based planning, monitoring, and control in the presence of significant light-time delay between the vehicle and the Earth?How should the allocated ground based planning, monitoring, and control be distributed across the flight control team and ground system automation? How should the allocated vehicle based planning, monitoring, and control be distributed between the flight crew and onboard system automation?When during the mission should responsibility shift from flight control team to crew or from crew to vehicle, and what should the process of shifting responsibility be as the mission progresses? NASA is developing a roadmap of capabilities for Autonomous Mission Operations for human spaceflight. This presentation will describe the current state of development of this roadmap, with specific attention to in-space inspection tasks that crews might perform with minimum assistance from the ground.

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

    Science.gov (United States)

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

    2016-07-01

    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

  1. 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

    2011-01-01

    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。

  2. 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)

    International Nuclear Information System (INIS)

    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

  3. Measuring flying object velocity with CCD sensors

    Science.gov (United States)

    Ricny, Vaclav; Mikulec, Jiri

    1994-06-01

    An autonomous optoelectronic method of measuring the flying objects track velocity vector (TVV) using digital signal two-line CCD sensors has been developed and simulated at the Department of Radioelectronics at the Faculty of Electrical Engineering of the Technical University of Brno, Czech Republic. The principle of the method, the computer simulation of measuring device operations, the application of statistic estimates for the precision of values measured, and the presentation of the results achieved are described.

  4. Biologically Inspired Vision Systems for Flying Robots – Editorial

    OpenAIRE

    Antonio Fernández-Caballero

    2016-01-01

    Unmanned aerial vehicles (UAVs) have attracted considerable interest for a wide variety of applications, including meteorological observation, fire monitoring and patrolling, to military purposes such as reconnaissance, monitoring and communication [4]. In recent years, flying robots such as autonomous quadrocopters have gained increased interest in robotics and computer vision research. To navigate safely, these robots need the ability to localise themselves autonomously using their on-board...

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

    Science.gov (United States)

    Floreano, Dario; Wood, Robert J.

    2015-05-01

    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.

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

    Science.gov (United States)

    Floreano, Dario; Wood, Robert J

    2015-05-28

    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. PMID:26017445

  7. Towards autonomous vehicular clouds

    Directory of Open Access Journals (Sweden)

    Stephan Olariu

    2011-09-01

    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.

  8. The Influence of Satellite Center-of-gravity Measurement Error on the Baseline of Formation Flying Satellites%卫星质心测量误差对编队卫星基线的影响

    Institute of Scientific and Technical Information of China (English)

    秦显平

    2015-01-01

    针对卫星质心测量误差影响编队卫星基线的问题,首先从编队卫星相对定轨的原理出发,分析了卫星质心误差的影响,然后考虑到编队卫星有效基线通常为载荷天线之间的基线,提出了天线基线与质心基线的定义。采用2015-12-08两颗编队卫星的实测数据,计算分析了卫星质心测量误差对质心基线和天线基线的影响,结果表明:卫星质心测量误差对质心基线的影响明显大于对天线基线的影响;卫星质心测量误差对天线基线的影响约为质心测量误差的10%。%To the question of the influence of satellite center-of-gravity measurement error on the baseline of formation fly-ing satellites,the influence of satellite center-of-gravity measurement error was analyzed from the principle of formation flying satellites relative orbit determination firstly.Then,in view of the useful baseline is usually the distance between the payload in-struments of two satellites,the definition of the baseline of two payload instruments antennas and the baseline of two satellites center-of-gravity were established.The baseline of two formation flying satellites center-of-gravity and the baseline of two an-tennas were computed by using the global positioning system data observed December 8,2005.The results of computation show that the measurement error of the satellite center-of-gravity makes the baseline error of two satellites center-of-gravity greatly than that of two antennas.The two antennas baseline error is about 10 percent of the two satellites center-of-gravity baseline error.

  9. Flying insects and Campylobacter

    DEFF Research Database (Denmark)

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

    Campylobacter in flies Flies of the Muscidae family forage on all kind of faeces – various fly species have different preferences. M domestica prefer pigs, horses and cattle faeces, animals which are all known to frequently excrete Campylobacter. As a result, the insects pick up pathogenic micro...... 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...

  10. Autonomic Nervous System Disorders

    Science.gov (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 ...

  11. Autoimmune Autonomic Ganglionopathy

    Science.gov (United States)

    ... Accessed 9/2/2015. Autoimmune Autonomic Ganglionopathy Summary. Dysautonomia International . http://www.dysautonomiainternational.org/page.php?ID= ... page Basic Information In Depth Information Basic Information Dysautonomia International offers an information page on Autoimmune autonomic ...

  12. AUTONOMÍA EN EL APRENDIZAJE: DIRECCIONES PARA EL DESARROLLO EN LA FORMACIÓN PROFESIONAL (AUTONOMOUS LEARNING: DIRECTIONS TO DEVELOP IN THE PROFESSIONAL FORMATION)

    OpenAIRE

    Cabrera Ruiz Isaac

    2009-01-01

    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 ...

  13. Intelligent agents: adaptation of autonomous bimodal microsystems

    Science.gov (United States)

    Smith, Patrice; Terry, Theodore B.

    2014-03-01

    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.

  14. Autonomous and nonautonomous regulation of axis formation by antagonistic signaling via 7-span cAMP receptors and GSK3 in Dictyostelium.

    Science.gov (United States)

    Ginsburg, G T; Kimmel, A R

    1997-08-15

    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. PMID:9284050

  15. Characterisation of Turkish fly ashes

    Energy Technology Data Exchange (ETDEWEB)

    Bayat, O. [Cukurova University, Adana (Turkey). Mining Engineering Dept.

    1998-07-01

    The mineralogical, morphological, physical and chemical properties of 7 fly ashes from coal fields in Turkey are compared. The mineral matter in the fly ashes, determined by X-ray diffraction, is dominated by anhydride, lime, quartz and hematite + ferrite spinel. The three low-calcium ashes have the typical, relatively simple, crystalline phase Q, M, H and FS. The high-calcium fly ashes have the most complex assemblage of crystalline phases. The much higher calcium concentrations in these samples result in the formation of lime (CaO), melilite ((Ca, Na){sub 2}(Mg,Al,Fe)(Si,Al){sub 2}O{sub 7}) and merwinite. The presence of anhydride in all samples indicates that the high activity of calcium not only promotes the formation of sulfates from calcite but also the dehydration of gypsum during and after combustion, which occurs at temperatures above 400-500{degree}C. It is important to understand the interaction of high-calcium fly ashes with water occurring in Portland cement (C{sub 3}A,C{sub 2}S), Ah, which hydrates to give gypsum and lime, with the latter hydrating to give the Ca(OH){sub 2} solutions that promote pozzolonic reactions. Some of the particles comprised irregularly formed, vesicular particles with some well-formed individual spheres in Catalagzi and Tuncbilek fly ashes. About 55-80 wt% was less than 45 {mu}m in size for Yatagan, Soma, Yenikoy and Afsin-Elbistan fly ashes. The fly ashes were mainly composed of CaO, SiO{sub 2} and Al{sub 2}O{sub 3}. They have a potential use in wastewater treatment since they can be easily obtained in large quantities at low price or even free. The chemical and mineralogical compositions of the high-calcium Turkish fly ashes investigated make them a good binding agent and a possible substitute for slags, pozzolana and gypsum in the amelioration of clinker. 53 refs., 10 figs., 5 tabs.

  16. Flying insects and Campylobacter

    DEFF Research Database (Denmark)

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

    Campylobacter in flies Flies of the Muscidae family forage on all kind of faeces – various fly species have different preferences. M domestica prefer pigs, horses and cattle faeces, animals which are all known to frequently excrete Campylobacter. As a result, the insects pick up pathogenic micro...

  17. Determinants of propensity to fly

    NARCIS (Netherlands)

    Hugo Gordijn

    2015-01-01

    Flying has become a common form of travel. The main reasons not to fly are fear of flying and the cost of flying. Youngsters fly more often than older people. Only above 75 years diminishes the propensity to considerably. Women fly as often as men except for business reasons. The group with the hig

  18. 编队卫星合成孔径雷达空时二维压缩感知成像%Formation-flying small satellites SAR imaging algorithm using space-time compressive sensing

    Institute of Scientific and Technical Information of China (English)

    宗竹林; 胡剑浩; 朱立东; 王健

    2012-01-01

    For the purpose of reducing the data transmission load of formation-flying small satellites and speeding up the imaging rate for formation-flying small satellites Synthetic aperture radar(SAR),a technical approach based on the theory of space-time compressive sensing is proposed.Firstly,on the basis of researching and analyzing the sparse characteristic of formation-flying small satellites SAR echoes,the space-time compressive sensing(CS) algorithm is presented.Then,the echo sparse model and the target restore matrix are established.Finally,the minimum l1norm algorithm used for time dimension and space dimension recover reconstruction is studied,and fast,low-load imaging is implemented.The effectiveness of the scheme is tested through processing simulated data.%以减小编队小卫星数据传输负荷,加快编队小卫星合成孔径雷达(SAR)成像速度为目的,提出了一种基于空时二维压缩感知(CS)理论的解决方案。通过对编队小卫星SAR回波信号模型稀疏性的研究与分析,提出了一种基于该回波模型的空时二维压缩算法。在此基础上建立了编队小卫星SAR的回波稀疏模型和目标信息的重构矩阵,并用最小l1范数算法对压缩后的数据进行了时间维和空间维的恢复重构,实现了编队小卫星的低负荷、快速成像。通过仿真分析,验证了该方案的有效性。

  19. Design, aerodynamics and autonomy of the DelFly.

    Science.gov (United States)

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

    2012-06-01

    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. PMID:22617112

  20. Design, aerodynamics and autonomy of the DelFly

    International Nuclear Information System (INIS)

    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.

  1. The Fly Printer - Extended

    DEFF Research Database (Denmark)

    Beloff, Laura; Klaus, Malena

    2016-01-01

    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 possibility...... to break through a common way of depicting the world, trying to find different surfaces and using strange apparatus to insist in the interstice of visibility. The Fly Printer is a printing apparatus in a form of a closed environment that contains a flock of fruit flies. The flies eat special food...... that is prepared for them that is mixed with laser jet printer inks. The flies digest the food and gradually print different color dots onto the paper that is placed under the fly habitat. In the Fly Printer biological organisms are used for replacing a standard part of our common printer technology...

  2. AUTONOMÍA EN EL APRENDIZAJE: DIRECCIONES PARA EL DESARROLLO EN LA FORMACIÓN PROFESIONAL (AUTONOMOUS LEARNING: DIRECTIONS TO DEVELOP IN THE PROFESSIONAL FORMATION

    Directory of Open Access Journals (Sweden)

    Cabrera Ruiz Isaac

    2009-08-01

    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

  3. mGluR5 in cortical excitatory neurons exerts both cell autonomous and nonautonomous influences on cortical somatosensory circuit formation

    OpenAIRE

    Ballester-Rosado, Carlos J.; Albright, Michael J.; Wu, Chia-Shan; Liao, Chun-Chieh; Zhu, Jie; Xu, Jian; Lee, Li-Jen; Lu, Hui-Chen

    2010-01-01

    Glutamatergic neurotransmission plays important roles in sensory map formation. The absence of the group I metabotropic glutamate receptor 5 (mGluR5) leads to abnormal sensory map formation throughout the mouse somatosensory pathway. To examine the role of cortical mGluR5 expression on barrel map formation, we generated cortex-specific mGluR5 KO mice. Eliminating mGluR5 function solely in cortical excitatory neurons, not only affects the whisker-related organization of cortical neurons (barre...

  4. Visual Navigation of an autonomous drone

    OpenAIRE

    Møst, Pål Moen

    2014-01-01

    In this thesis we have implemented and developed the necessary hardware and software solutions to transform a radio controlled quad copter into an autonomous drone. The main goal for this thesis was to safely land the drone by visual navigation on a given landing spot. To make this possible the we started with the assembly of a radio controlled quad copter from a almost-ready-to-fly kit (ARF) from AeroQuad. We then applied the necessary hardware to the drone by adding a web camera for visual ...

  5. 多无人机自主编队协同制导技术的概念、设计和仿真%Autonomous Formation and Cooperative Guidance of Multi-UAV: Concept, Design and Simulation

    Institute of Scientific and Technical Information of China (English)

    刘星; 吴森堂; 穆晓敏; 彭琛; 唐积强

    2008-01-01

    现代防空技术的迅速发展使得制导武器的突防效果大大下降,多飞行器自主编队协同制导技术成为提高未来制导武器作战效能的关键技术之一.定义了高动态自主编队协同制导技术的概念体系;提供编队队形生成、队形保持和控制、协同导航与航路规划、目标协同捕捉与动态分配、协同末制导等关键技术的框架结构和设计方法:并设计了适用于自主编队协同制导技术的无线自组织网络结构和组网协议,实现高动态环境下信息的互联、互通和互操作,且节点具备自主管理能力和容错能力;通过所构建的多UAV自主编队协同制导验证演示系统验证表明,系统的框架结构和设计方法有效,系统性能满足技术指标要求.%The modern aerial defense systems have impaired the damage efficiency of guided weapons. Autonomous formation and cooperative guidance of muhi-unmanned air vehicle (UAV) become the direction of future precision-guided weapon system. The concept of autonomous formation and cooperative guidance of multi-UA V was defined. Several related key issues were analyzed respectively, including formation design, formation control strategy, cooperative navigation, path planning, target coordinated detection, target dynamic distribution and cooperative terminal guidance. Besides, a topological structure and a self-organization protocol were designed for wireless Ad Hoc networks which. established the interlink and intercommunication mechanism to support the pattern of interactions in dynamic environment and have capability of node management and fault-tolerance. The demonstration system indicates the effectiveness of the design methods.

  6. Fly ash carbon passivation

    Science.gov (United States)

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

    2013-05-14

    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.

  7. Heavy metals in MSW incineration fly ashes

    DEFF Research Database (Denmark)

    Ferreira, Celia; Ribeiro, Alexandra B.; Ottosen, Lisbeth M.

    2003-01-01

    characterized regarding its physical-chemical properties: pH, solubility, chemical composition, and leaching, amongst others. Results indicate a high alkalinity and the presence of large amounts of calcium, chlorides, sulfates, carbonates, sodium and potassium. Metal concentrations in fly ash are: 6,2 g/kg for......Incineration is a common solution for dealing with the increasing amount of municipal solid waste (MSW). During the process, the heavy metals initially present in the waste go through several transformations, ending up in combustion products, such as fly ash. This article deals with some issues...... related to the combustion of MSW and the formation of fly ash, especially in what concerns heavy metals. Treatment of the flue gas in air pollution control equipment plays an important role and the basic processes to accomplish this are explained. Fly ash from a semi-dry flue gas treatment system is...

  8. Large-scale formation control for autonomous underwater vehicles based on Kalman filtering%基于卡尔曼滤波的自主式水下航行器大尺度编队控制

    Institute of Scientific and Technical Information of China (English)

    袁健; 周忠海; 金光虎; 徐娟; 李俊晓

    2013-01-01

    针对网络环境下环境噪声对自主式水下航行器编队控制的影响,提出一种利用卡尔曼滤波实时估计AUV最优运动状态的编队控制方法。将空间间隔较远的多AUV系统建模为多智能体系统,从大尺度上研究其编队控制问题。为了得到每个AUV速度状态的最优估计值,每个AUV都嵌入一个全局卡尔曼滤波器,利用该全局滤波器进行最优估计从而计算出噪声环境下其自身的最优位置。仿真结果验证了所给出的控制策略的有效性。%Aiming at investigating the influence of environmental noise on autonomous underwater vehicles( AUV) formation control, a formation control for estimating AUV optimal motion states in real time is proposed. We mod-eled multiple AUVs with larger interval in space as a multi-agent system in order to investigate the large-scale for-mation control. Each AUV is embedded with one global Kalman filter to obtain the optimal estimation of each AUV speed states. And thus the optimal position of AUV in a noisy environment can be calculated by the optimal estima-tion with the global filter. Finally, some simulations were demonstrated to show the effectiveness of the proposed for-mation control scheme.

  9. Trigeminal autonomic cephalgias

    OpenAIRE

    Benoliel, Rafael

    2012-01-01

    1. Trigeminal autonomic cephalgias (TACs) are headaches/facial pains classified together based on:a suspected common pathophysiology involving the trigeminovascular system, the trigeminoparasympathetic reflex and centres controlling circadian rhythms;a similar clinical presentation of trigeminal pain, and autonomic activation.

  10. Testing for autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1984-01-01

    disease, and may be nonspecific. A number of recently developed quantifiable and reproducible autonomic nerve function tests are reviewed, with emphasis on the physiological basis of the tests and on practical applicability. Finally, diagnostic criteria, based on autonomic nerve function tests, are...

  11. SOCIO-CULTURAL ENVIRONMENT OF EDUCATION IN THE CONDITIONS OF FORMATION HIGH PEDAGOGICAL SCHOOL IN THE INNER ASIA REGIONS (EXAMPLE OF ULAN-UDE (BURYATIA, RUSSIA AND HOHHOT (INNER MONGOLIA AUTONOMOUS REGION, CHINA

    Directory of Open Access Journals (Sweden)

    Tatiana Innokentievna Garmaeva

    2015-12-01

    Full Text Available The article is devoted to the some aspects of formation of the pedagogical higher school in Republic of Buryatia and Inner Mongolia Autonomous region. The importance of research is obvious, because it is necessary to comprehend the changes happening in the XX century in educational systems and its influences on modern processes, to analyze and establish the reasons of the transformational processes happening in an education system that is impossible without experience gained from previous generation. Methodological basis of the research is the historical method, and also systematic and structural-functional analysis. Results of the study let us to reveal features of development and formation of the pedagogical higher school of Internal Asia considering their history and national color and also have a direct relation to one of the most actual problem of cultural, information and educational security. The obtained results can be used in the work of public authorities involved in the development of public policy in the field of education, in reading of the lecture course, special seminars on pedagogy and history of education for the students and specialists of humanities.

  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)

    2013-01-01

      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. Ecohormones for the management of fruit fly pests: Understanding plant-fruit-fly-predator interrelationships

    International Nuclear Information System (INIS)

    The strong attractancy of fruit flies to certain lures can now be explained by demonstrating: (1) an anti-predation mechanism in several species of fruit fly through the endogenous production and secretion of allomone(s); and (2) chemical(s) responsible for male aggregation in a lek formation, after pharmacophagy. Compulsive feeding of methyl eugenol (ME) by male flies produced a feeding deterrent effect on the house lizard, Hemidactylus frenatus. Lizards did not attempt to feed on fruit flies after initial exposure to flies that had fed on ME. On the other hand, sequestration of raspberry ketone may not play an anti-predation role in the melon fly, but functions as a male aggregation pheromone. The anti-predation mechanism in the melon fly is the result of the endogenous synthesis of ethyl-hydroxybenzoate and 1,3-nonandiol in the male rectal gland at sexual maturity. Most mature male flies undergo reflex ejaculation of rectal gland content when they are under stress, e.g. when they are being anaesthetized with carbon dioxide or when they are being held by a feather forceps. 24 refs

  14. Autonomous linear lossless systems

    OpenAIRE

    Rao, Shodhan; Rapisarda, Paolo

    2008-01-01

    We define a lossless autonomous system as one having a quadratic differential form associated with it called an energy function, which is positive and which is conserved. We define an oscillatory system as one which has all its trajectories bounded on the entire time axis. In this paper, we show that an autonomous system is lossless if and only if it is oscillatory. Next we discuss a few properties of energy functions of autonomous lossless systems and a suitable way of splitting a given ener...

  15. Autonomous surveillance for biosecurity.

    Science.gov (United States)

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

    2015-04-01

    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. PMID:25744760

  16. The onion fly

    International Nuclear Information System (INIS)

    This paper describes the origin, practical application, problems in application and prospects of control of the onion fly, Delia antiqua (Diptera: Anthomyiidae), in the Netherlands by the Sterile Insect Technique (SIT). The larva of the onion fly is a severe pest in onions in temperate regions. Development of resistance of the onion fly against insecticides caused research on the SIT to be started by the Dutch Government in 1965. This research was on mass-rearing, long-term storage of pupae, sterilization, and release and ratio assessment techniques. By 1979 sufficient information had been turned over to any interested private company. In the case of the onion fly the SIT can be applied like a control treatment instead of chemical control to individual onion fields. This is due to the limited dispersal activity of the flies and the scattered distribution of onion fields in the Netherlands, with 5-10% of the onion growing areas planted with onions

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

    OpenAIRE

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

    2008-01-01

    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 ...

  18. Autonomous gliding entry guidance with

    Directory of Open Access Journals (Sweden)

    Guo Jie

    2015-10-01

    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.

  19. AUTONOMOUS DRIVEN CAR

    OpenAIRE

    Meeshika Arora

    2013-01-01

    In order to achieve autonomous operation of a vehiclein urban situations with unpredictable traffic, several real timesystems must interoperate, including environment perceptionplanning and control. In addition a robust vehicle platform withappropriate sensors, computational hardware, networking andsoftware infrastructure is essential.

  20. Highly Autonomous Systems Workshop

    Science.gov (United States)

    Doyle, R.; Rasmussen, R.; Man, G.; Patel, K.

    1998-01-01

    It is our aim by launching a series of workshops on the topic of highly autonomous systems to reach out to the larger community interested in technology development for remotely deployed systems, particularly those for exploration.

  1. Engineering Autonomous Driving Software

    OpenAIRE

    Berger, Christian; Rumpe, Bernhard

    2014-01-01

    A larger number of people with heterogeneous knowledge and skills running a project together needs an adaptable, target, and skill-specific engineering process. This especially holds for a project to develop a highly innovative, autonomously driving vehicle to participate in the 2007 DARPA Urban Challenge. In this contribution, we present essential elements of a software and systems engineering process to develop a so-called artificial intelligence capable of driving autonomously in complex u...

  2. Autonomous Star Tracker Algorithms

    DEFF Research Database (Denmark)

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

    1998-01-01

    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....

  3. The fruit flies (Tephritidae) of Ontario

    Science.gov (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...

  4. CO(J=3-2) On-the-fly Mapping of the Nearby Spiral Galaxies NGC 628 and NGC 7793: Spatially-resolved CO(J=3-2) Star-formation Law

    CERN Document Server

    Muraoka, Kazuyuki; Yanagitani, Kazuki; Kaneko, Hiroyuki; Nakanishi, Kouichiro; Kuno, Nario; Sorai, Kazuo; Tosaki, Tomoka; Kohno, Kotaro

    2015-01-01

    We present the results of CO(J=3-2) on-the-fly mappings of two nearby non-barred spiral galaxies NGC 628 and NGC 7793 with the Atacama Submillimeter Telescope Experiment at an effective angular resolution of 25". We successfully obtained global distributions of CO(J=3-2) emission over the entire disks at a sub-kpc resolution for both galaxies. We examined the spatially-resolved (sub-kpc) relationship between CO(J=3-2) luminosities (L'CO(3-2)) and infrared (IR) luminosities (LIR) for NGC 628, NGC 7793, and M 83, and compared it with global luminosities of JCMT Nearby Galaxy Legacy Survey sample. We found a striking linear L'CO(3-2)-LIR correlation over the 4 orders of magnitude, and the correlation is consistent even with that for ultraluminous infrared galaxies and submillimeter selected galaxies. In addition, we examined the spatially-resolved relationship between CO(J=3-2) intensities (ICO(3-2)) and extinction-corrected star formation rates (SFRs) for NGC 628, NGC 7793, and M 83, and compared it with that f...

  5. 基于输出反馈的编队卫星姿态同步和跟踪控制%Attitude Synchronization and Tracking Control of Formation Flying Satellites by Output Feedback

    Institute of Scientific and Technical Information of China (English)

    郭海波; 曹喜滨; 张世杰; 张安慧; 陈健; 王峰

    2011-01-01

    研究了卫星编队无角速度测量信息且采用局部信息交互时的姿态协同控制问题.以四元数为姿态描述手段,采用超前滤波方法重构星体绝对和相对角速度信息,设计了基于输出反馈的分散姿态同步和跟踪控制器.利用Barbalat引理和代数图论等对闭环系统的全局渐近稳定性进行了理论分析和证明.以六星编队为背景的数值仿真进一步验证了算法的有效性.%The coordinated attitude control via local information exchange for a group of satellites without angular velocity measurements is considered. A decentralizcd output feedback control law is developed by using quaternions only to guarantee attitude synchronization and tracking. Lead filters are adopted to estimate the unmcasured absolute and relative angular velocities necessary for the coordinated control. The global asymptotic stability for the closed-loop system is shown by applying algebraic graph theory and the Barbalat's Lemma. Simulation results of six formation flying satellites further demonstrate the effectiveness of the proposed control law.

  6. CO(J = 3-2) on-the-fly mapping of the nearby spiral galaxies NGC 628 and NGC 7793: Spatially resolved CO(J = 3-2) star-formation law

    Science.gov (United States)

    Muraoka, Kazuyuki; Takeda, Miho; Yanagitani, Kazuki; Kaneko, Hiroyuki; Nakanishi, Kouichiro; Kuno, Nario; Sorai, Kazuo; Tosaki, Tomoka; Kohno, Kotaro

    2016-04-01

    We present the results of CO(J = 3-2) on-the-fly mappings of two nearby non-barred spiral galaxies, NGC 628 and NGC 7793, with the Atacama Submillimeter Telescope Experiment at an effective angular resolution of 25″. We successfully obtained global distributions of CO(J = 3-2) emission over the entire disks at a sub-kpc resolution for both galaxies. We examined the spatially resolved (sub-kpc) relationship between CO(J = 3-2) luminosities (L^' }_CO(3-2)) and infrared (IR) luminosities (LIR) for NGC 628, NGC 7793, and M 83, and compared it with global luminosities of a JCMT (James Clerk Maxwell Telescope) Nearby Galaxy Legacy Survey sample. We found a striking linear L^' }_CO(3-2)-LIR correlation over the four orders of magnitude, and the correlation is consistent even with that for ultraluminous IR galaxies and submillimeter-selected galaxies. In addition, we examined the spatially resolved relationship between CO(J = 3-2) intensities (ICO(3-2)) and extinction-corrected star formation rates (SFRs) for NGC 628, NGC 7793, and M 83, and compared it with that for Giant Molecular Clouds in M 33 and 14 nearby galaxy centers. We found a linear ICO(3-2)-SFR correlation with ˜1 dex scatter. We conclude that the CO(J = 3-2) star-formation law (i.e., linear L^' }_CO(3-2)-LIR and ICO(3-2)-SFR correlations) is universally applicable to various types and spatial scales of galaxies; from spatially resolved nearby galaxy disks to distant IR-luminous galaxies, within ˜1 dex scatter.

  7. Flying insects and robots

    CERN Document Server

    Ellington, Charlie

    2009-01-01

    Understanding flight mechanics of insects can aid engineers in developing intelligent flying robots. In this seminal book, biologists and engineers detail the mechanics, technology, and intelligence of insects then discuss potential benefits of their research.

  8. Fruit fly eradication: Argentina

    International Nuclear Information System (INIS)

    Fruit exports account for 9% of Argentina's total agricultural exports and generate annually close to $450 million. This could be increased but for fruit flies that cause damage equivalent to 15% to 20% of present production value of fruit and also deny export access to countries imposing quarantine barriers. The Department of Technical Co-operation is sponsoring a programme, with technical support from the Joint FAO/IAEA Division, to eradicate the Mediterranean fruit fly using the Sterile Insect Technique (SIT). (IAEA)

  9. Control carrot fly

    OpenAIRE

    van den Broek, Rob

    2011-01-01

    The larva of the carrot fly, Psila rosae, may in some umbelliferous plants cause significant damage. The insect is mainly in the temperate regions of the northern hemisphere, but also in some subtropical areas. Everywhere in the Netherlands where carrots are grown, is degradation. In the Netherlands organic growers seem well with the carrot fly problem to go, the number of reports of harm and disapproval is not too bad. With smart cultivation measures, the problems are manageable and, underst...

  10. O fly, where art thou?

    OpenAIRE

    Grover, Dhruv; Tower, John; Tavaré, Simon

    2008-01-01

    In this paper, the design of a real-time image acquisition system for tracking the movement of Drosophila in three-dimensional space is presented. The system uses three calibrated and synchronized cameras to detect multiple flies and integrates the detected fly silhouettes to construct the three-dimensional visual hull models of each fly. We used an extended Kalman filter to estimate the state of each fly, given past positions from the reconstructed fly visual hulls. The results show that our...

  11. Multi-Agent Formations and Sensor Networks

    NARCIS (Netherlands)

    Cao, M.

    2007-01-01

    We investigate three intertwined problems concerned with distributed cooperative control of groups of autonomous mobile agents. These problems are the consensus problem in mobile networks, the localization problem in sensor networks and the formation maintenance problem in autonomous robotic teams.

  12. Architecture of autonomous systems

    Science.gov (United States)

    Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

    1989-01-01

    Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

  13. Exercise and autonomic function.

    Science.gov (United States)

    Goldsmith, R L; Bloomfield, D M; Rosenwinkel, E T

    2000-03-01

    The complex interplay between the dichotomous subdivisions of the autonomic nervous system establishes and maintains a delicately tuned homeostasis in spite of an ever-changing environment. Aerobic exercise training can increase activity of the parasympathetic nervous system and decrease sympathetic activity. Conversely, it is well-documented that cardiac disease is often characterized by attenuated parasympathetic activity and heightened sympathetic tone. A correlation between autonomic disequilibrium and disease has led to the hypothesis that exercise training, as a therapy that restores the autonomic nervous system towards normal function, may be associated with, and possibly responsible for, outcome improvements in various populations. This is merely one of the many benefits that is conferred by chronic exercise training and reviewed in this issue. PMID:10758814

  14. Free-Flying Magnetometer Data System

    Science.gov (United States)

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

    2000-01-01

    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

  15. Overview of the Autonomic Nervous System

    Science.gov (United States)

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

  16. Development of a Fruit Fly Strain for Sterile Fly Detection

    International Nuclear Information System (INIS)

    Full text: A white-striped oriental fruit fly strain, derived from hot-water treated eggs, was developed for sterile fly detection. It was applied to evaluate the effectiveness of fruit fly population control by releasing the radiation induced sterile flies. The objectives of this reported set of experiments were to study the effects of mass rearing on the quality of white-striped oriental fruit flies, the effectiveness of controlling the wild fly population and the accuracy of detection of the released white-striped flies. It was found that mass rearing decreased the pupal yield but increased the pupal quality of white-striped flies comparing with normal flies. Controlling the wild fruit fly population by releasing sterile white-striped flies integrated with other control methods at Tambon Trok Nong, Amphoe Khlung, Chanthaburi Province, could suppress the wild fruit fly population by 96.02 %. The use of white-striped oriental fruit flies yielded a higher detection accuracy upon releasing and reduced the operating time and costs when compared with the use of fluorescent dye marking approach

  17. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

    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. The...

  18. ADAM: ADaptive Autonomous Machine

    NARCIS (Netherlands)

    Oosten, van Daan C.; Nijenhuis, Lucas F.J.; Bakkers, André W.P.; Vervoort, Wiek A.

    1996-01-01

    This paper describes a part of the development of an adaptive autonomous machine that is able to move in an unknown world extract knowledge out of the perceived data, has the possibility to reason, and finally has the capability to exchange experiences and knowledge with other agents. The agent is n

  19. Autonomous Security Patrol System

    OpenAIRE

    Erramouspe, Jake

    2010-01-01

    This project provides an efficient and cost-effective solution to building security and active monitoring. The security is monitored and controlled by autonomous patrol robots. Any indication of a security breach will result in an immediate alarm and activation of the robot group to subdue and tranquilize the intruder.

  20. Software Architecture for Autonomous Spacecraft

    Science.gov (United States)

    Shih, Jimmy S.

    1997-01-01

    The thesis objective is to design an autonomous spacecraft architecture to perform both deliberative and reactive behaviors. The Autonomous Small Planet In-Situ Reaction to Events (ASPIRE) project uses the architecture to integrate several autonomous technologies for a comet orbiter mission.

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

    DEFF Research Database (Denmark)

    Pedersen, Kim Hougaard

    2008-01-01

    in the feeding phase or during the combustion process, which gave rise to increased formation of soot. A low-NOx tangential fired 875 MWth power plant burning bituminous coal have been operated under extreme conditions in order to test the impact of the operating conditions on fly ash adsorption behavior and NOx......Application of Fly Ash from Solid Fuel Combustion in Concrete Kim H. Pedersen Abstract Industrial utilization of fly ash from pulverized coal combustion plays an important role in environmentally clean and cost effective power generation. Today, the primary market for fly ash utilization...... with implementation of low-NOx combustion technologies. The present thesis concerns three areas of importance within this field: 1) testing of fly ash adsorption behavior; 2) the influence of fuel type and combustion conditions on the ash adsorption behaviour including full-scale experiments at the power plant...

  2. Complexity and Fly Swarms

    Science.gov (United States)

    Cates, Grant; Murray, Joelle

    Complexity is the study of phenomena that emerge from a collection of interacting objects and arises in many systems throughout physics, biology, finance, economics and more. Certain kinds of complex systems can be described by self-organized criticality (SOC). An SOC system is one that is internally driven towards some critical state. Recent experimental work suggests scaling behavior of fly swarms-one of the hallmarks of an SOC system. Our goal is to look for SOC behavior in computational models of fly swarms.

  3. A Closed-Loop Hardware Simulation of Decentralized Satellite Formation Control

    Science.gov (United States)

    Ebimuma, Takuji; Lightsey, E. Glenn; Baur, Frank (Technical Monitor)

    2002-01-01

    In recent years, there has been significant interest in the use of formation flying spacecraft for a variety of earth and space science missions. Formation flying may provide smaller and cheaper satellites that, working together, have more capability than larger and more expensive satellites. Several decentralized architectures have been proposed for autonomous establishment and maintenance of satellite formations. In such architectures, each satellite cooperatively maintains the shape of the formation without a central supervisor, and processing only local measurement information. The Global Positioning System (GPS) sensors are ideally suited to provide such local position and velocity measurements to the individual satellites. An investigation of the feasibility of a decentralized approach to satellite formation flying was originally presented by Carpenter. He extended a decentralized linear-quadratic-Gaussian (LQG) framework proposed by Speyer in a fashion similar to an extended Kalman filter (EKE) which processed GPS position fix solutions. The new decentralized LQG architecture was demonstrated in a numerical simulation for a realistic scenario that is similar to missions that have been proposed by NASA and the U.S. Air Force. Another decentralized architecture was proposed by Park et al. using carrier differential-phase GPS (CDGPS). Recently, Busse et al demonstrated the decentralized CDGPS architecture in a hardware-in-the-loop simulation on the Formation Flying TestBed (FFTB) at Goddard Space Flight Center (GSFC), which features two Spirent Cox 16 channel GPS signal generator. Although representing a step forward by utilizing GPS signal simulators for a spacecraft formation flying simulation, only an open-loop performance, in which no maneuvers were executed based on the real-time state estimates, was considered. In this research, hardware experimentation has been extended to include closed-loop integrated guidance and navigation of multiple spacecraft

  4. Towards a New Formation Flying Solar Coronagraph

    Czech Academy of Sciences Publication Activity Database

    Lamy, P.; Vives, S.; Curdt, W.; Dame, L.; Davila, J.; Defise, J. M.; Fineschi, S.; Heinzel, Petr; Kuzin, S.; Schmutz, W.; Tsinganos, K.; Turck-Chieze, S.; Zhukov, A.

    San Francisco: Astronomical Societa of the Pacific, 2010 - (Tsinganos, K.; Hatzidimitriou, D.; Matsakos, T.), s. 15-18. (ASP Conference Series. 424). ISBN 978-1-58381-728-5. [International Conference of the Hellenic Astronomical Society /9./. Athens (GR), 20.09.2009-24.09.2009] Institutional research plan: CEZ:AV0Z10030501 Keywords : solar coronagraph * Proba 3 satellites Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics

  5. A study of fly ash-lime granule unfired brick

    Energy Technology Data Exchange (ETDEWEB)

    P. Chindaprasirt; K. Pimraksa [Khon Kaen University (Thailand). Department of Civil Engineering

    2008-02-15

    In this paper, the properties of fly ash-lime granule unfired bricks are studied. Granules were prepared from mixtures of fly ash and lime at fly ash to hydrated lime ratios of 100:0 (Ca/Si = 0.2), 95:5 (Ca/Si = 0.35) and 90:10 (Ca/Si = 0.5). After a period of moist curing, the microstructure and mineralogy of the granules were studied. Microstructure examination reveals that new phases in the form of needle-like particles are formed at the surface of granule. The granules were used to make unfired bricks using hydrothermal treatment at temperature of 130 {+-} 5{sup o}C and pressure of 0.14 MPa. The microstructures, mineralogical compositions, mechanical properties and environmental impact of bricks were determined. The results reveal that the strengths of unfired bricks are dependent on the fineness of fly ash. The strength is higher with an increase in fly ash fineness. The strengths of the fly ash-lime granule unfired brick are excellent at 47.0-62.5 MPa. The high strength is due to the formation of new products consisting mainly of hibschite and Al-substituted 11 {angstrom} tobermorite. The main advantage of utilization of granule is the ability to increase the pozzolanic reaction of fly ash through moisture retained in the granule. In addition, the heavy elements, in particular Cd, Ni, Pb and Zn are efficiently retained in the fly ash-lime granule unfired brick.

  6. Fly on the Wall

    Science.gov (United States)

    Berry, Dave; Korpan, Cynthia

    2009-01-01

    This paper describes the implementation of a peer observation program at the University of Victoria called the Lecture Club. The observers are not interactive during the class--they are the proverbial flies on the wall. The paper identifies the program as self-developmental, discussing the attributes of this learning-to-teach and peer-sharing…

  7. Mobile Autonomous Humanoid Assistant

    Science.gov (United States)

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

    2004-01-01

    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.

  8. Grasping at molecular interactions and genetic networks in Drosophila melanogaster using FlyNets, an Internet database.

    OpenAIRE

    Sanchez, C; Lachaize, C; Janody, F; Bellon, B; Röder, L; Euzenat, J.; Rechenmann, F; Jacq, B

    1999-01-01

    FlyNets (http://gifts.univ-mrs.fr/FlyNets/FlyNets_home_page.++ +html) is a WWW database describing molecular interactions (protein-DNA, protein-RNA and protein-protein) in the fly Drosophila melanogaster. It is composed of two parts, as follows. (i) FlyNets-base is a specialized database which focuses on molecular interactions involved in Drosophila development. The information content of FlyNets-base is distributed among several specific lines arranged according to a GenBank-like format and ...

  9. Autonomous single camera exploration

    OpenAIRE

    Vidal-Calleja, Teresa A.; Sanfeliu, Alberto; Andrade-Cetto, J.

    2006-01-01

    In this paper we present an active exploration strategy for a mobile robot navigating in 3D. The aim is to control a moving robot that autonomously builds a visual feature map while at the same time optimises its localisation in this map. The technique chooses the most appropriate commands maximising the information gain between prior states and measurements, while performing 6DOF bearing only SLAM at video rate. Maximising the mutual information helps the vehicle avoid ill-conditioned measur...

  10. Autonomous Underwater Vehicle control

    OpenAIRE

    Vidal Morató, Jordi; Gomáriz Castro, Spartacus; Manuel Lázaro, Antonio

    2005-01-01

    In this paper the system control design stages for an autonomous underwater vehicle are presented. The vehicle must be able to sail on sea surface, following a path without losing its route and once a position is reached, a dive following a perpendicular path to the surface is carried out. A two level system control are proposed. The primary level will control the navigation of the vehicle where a linear controllers are proposed. Whereas in secondary level guidance system, collision system, s...

  11. The autonomous acoustic buoy

    OpenAIRE

    Pellicer, Francisco; Reitsma, Robert; Agüera, Joaquín; Marinas, Alexandra

    2013-01-01

    The Acoustic Buoy is a project between the Laboratory of Applied Bioacoustics (LAB) and the Universitat Politècnica de Catalunya (UPC). In areas that the human activities produce high noise levels, such as oil exploration or construction, there is a need to monitor the environment for the presence of cetaceans. Another need is for fishing, to prevent endangered species from being killed. This can be done with an Autonomous Acoustic Buoy (AAB). Mooring or anchoring at to the seaflo...

  12. Mobile Intelligent Autonomous Systems

    OpenAIRE

    Jitendra R. Raol; Ajith Gopal

    2010-01-01

    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) ve...

  13. Nature's Autonomous Oscillators

    Science.gov (United States)

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

    2012-01-01

    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.

  14. Trigeminal autonomic cephalalgias.

    Science.gov (United States)

    Eller, M; Goadsby, P J

    2016-01-01

    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. PMID:24888770

  15. Monte Carlo Registration and Its Application with Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Christian Rink

    2016-01-01

    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.

  16. Association Between Autonomic Impairment and Structural Deficit in Parkinson Disease

    Science.gov (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

    2016-01-01

    Abstract 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. PMID:26986144

  17. Test What You Fly?

    Science.gov (United States)

    Margolies, Don

    2002-01-01

    It was the first time on any NASA project I know of that all the instruments on an observatory came off for rework or calibration after the full range of environmental tests, and then were reintegrated at the launch center without the benefit of an observatory environmental retest. Perhaps you've heard the expression, 'Test what you fly, fly what you test'? In theory, it's hard to argue with that. In this case, I was willing to take the risk of not testing what I flew. As the project manager for the Advanced Composition Explorer (ACE) mission, I was the one who ultimately decided what risks to take, just as it was my responsibility to get buy-in from the stakeholders.

  18. A mission planner for an autonomous tractor

    DEFF Research Database (Denmark)

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

    2009-01-01

    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....... Using the tree hierarchy of the mission file, several actions are determined, including the sequence of points the tractor has to follow, the type of motion between successive points (e.g.,straight motion or maneuvering), the type of predefined turning routine used in maneuvering, and the actions...... that should be taken once the tractor reaches the desired point (e.g., raising or lowering the attached tool, turning on or turning off the ower take-off). In order to automatically create the XML mission files, a program was developed using the MATLAB technical programming language. The program uses data...

  19. Jam avoidance with autonomous systems

    OpenAIRE

    Tordeux, Antoine; Lassarre, Sylvain

    2015-01-01

    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...

  20. Chemical Specification of Autonomic Systems

    OpenAIRE

    Banâtre, Jean-Pierre; Fradet, Pascal; Radenac, Yann

    2004-01-01

    Autonomic computing provides a vision of information systems allowing self-management of many predefined properties. Such systems take care of their own behavior and of their interactions with other components without any external intervention. One of the major challenges concerns the expression of properties and constraints of autonomic systems. We believe that the {\\em chemical programming paradigm} (represented here by the Gamma formalism) is well-suited to the specification of autonomic s...

  1. Catecholamines and diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1995-01-01

    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......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...

  2. Flying Saucer? Aliens?

    Science.gov (United States)

    1961-01-01

    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.

  3. Flying spot scanner

    International Nuclear Information System (INIS)

    An improved flying spot x-ray scanning equipment is described which includes a grid controlled x-ray tube and associated collimators for producing a pencil beam of x-rays. It is possible to control the position of the scan field relative to the patient, to control the width of the scan field and also to independently achieve an arbitary variation in the longitudinal dimension of the scan field. (U.K.)

  4. Design, implementation and testing of a common data model supporting autonomous vehicle compatibility and interoperability

    OpenAIRE

    Davis, Duane T.

    2006-01-01

    Current autonomous vehicle interoperability is limited by vehicle-specific data formats and support systems. Until a standardized approach to autonomous vehicle command and control is adopted, true interoperability will remain elusive. This work explores the applicability of a data model supporting arbitrary vehicles using the Extensible Markup Language (XML). An exemplar, the Autonomous Vehicle Command Language (AVCL), encapsulates behavior-scripted mission definition, goalbased mission de...

  5. Robotics and Autonomous Systems Laboratory

    Data.gov (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...

  6. Jam avoidance with autonomous systems

    CERN Document Server

    Tordeux, Antoine

    2016-01-01

    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. Collaborating with Autonomous Agents

    Science.gov (United States)

    Trujillo, Anna C.; Cross, Charles D.; Fan, Henry; Hempley, Lucas E.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc D.; Allen, B. Danette

    2015-01-01

    With the anticipated increase of small unmanned aircraft systems (sUAS) entering into the National Airspace System, it is highly likely that vehicle operators will be teaming with fleets of small autonomous vehicles. The small vehicles may consist of sUAS, which are 55 pounds or less that typically will y at altitudes 400 feet and below, and small ground vehicles typically operating in buildings or defined small campuses. Typically, the vehicle operators are not concerned with manual control of the vehicle; instead they are concerned with the overall mission. In order for this vision of high-level mission operators working with fleets of vehicles to come to fruition, many human factors related challenges must be investigated and solved. First, the interface between the human operator and the autonomous agent must be at a level that the operator needs and the agents can understand. This paper details the natural language human factors e orts that NASA Langley's Autonomy Incubator is focusing on. In particular these e orts focus on allowing the operator to interact with the system using speech and gestures rather than a mouse and keyboard. With this ability of the system to understand both speech and gestures, operators not familiar with the vehicle dynamics will be able to easily plan, initiate, and change missions using a language familiar to them rather than having to learn and converse in the vehicle's language. This will foster better teaming between the operator and the autonomous agent which will help lower workload, increase situation awareness, and improve performance of the system as a whole.

  8. Autonomous packaging robot

    OpenAIRE

    Vo, Van Thanh

    2010-01-01

    The objective of the autonomous packaging robot application is to replace manual product packaging in food industry with a fully automatic robot. The objective is achieved by using the combination of machine vision, central computer, sensors, microcontroller and a typical ABB robot. The method is to equip the robot with different sensors: camera as “eyes” of robot, distance sensor and microcontroller as “sense of touch” of the robot, central computer as “brain” of the robot. Because the ro...

  9. Autonomous component carrier selection

    DEFF Research Database (Denmark)

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

    2009-01-01

    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...... management and efficient system operation. Due to the expected large number of user-deployed cells, centralized network planning becomes unpractical and new scalable alternatives must be sought. In this article, we propose a fully distributed and scalable solution to the interference management problem...

  10. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    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. 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

    OpenAIRE

    GRACE IVANA DEHEZA

    2008-01-01

    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 gobie...

  12. Nemesis Autonomous Test System

    Science.gov (United States)

    Barltrop, Kevin J.; Lee, Cin-Young; Horvath, Gregory A,; Clement, Bradley J.

    2012-01-01

    A generalized framework has been developed for systems validation that can be applied to both traditional and autonomous systems. The framework consists of an automated test case generation and execution system called Nemesis that rapidly and thoroughly identifies flaws or vulnerabilities within a system. By applying genetic optimization and goal-seeking algorithms on the test equipment side, a "war game" is conducted between a system and its complementary nemesis. The end result of the war games is a collection of scenarios that reveals any undesirable behaviors of the system under test. The software provides a reusable framework to evolve test scenarios using genetic algorithms using an operation model of the system under test. It can automatically generate and execute test cases that reveal flaws in behaviorally complex systems. Genetic algorithms focus the exploration of tests on the set of test cases that most effectively reveals the flaws and vulnerabilities of the system under test. It leverages advances in state- and model-based engineering, which are essential in defining the behavior of autonomous systems. It also uses goal networks to describe test scenarios.

  13. Learning for Autonomous Navigation

    Science.gov (United States)

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

    2005-01-01

    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.

  14. Observation of nano copper in waste heat boiler fly ashes

    Energy Technology Data Exchange (ETDEWEB)

    Chen, C.Y. [Department of Environmental Engineering, National Cheng Kung University, Tainan City, Taiwan (China); Paul Wang, H. [Department of Environmental Engineering, National Cheng Kung University, Tainan City, Taiwan (China)]. E-mail: wanghp@mail.ncku.edu.tw; Wei, Yu-Ling [Department of Environmental Science, Tunghai University, Taichung City, Taiwan (China); Jou, C.J.G. [Department of Safety, Health and Environmental Engineering, National Kaohsiung First University of Science and Technology, Kaohsiung City, Taiwan (China); Huang, Y.C. [Department of Environmental Engineering, National Cheng Kung University, Tainan City, Taiwan (China)

    2006-11-15

    Fly ashes collected from waste heat boilers in the incineration process may possess representative chemical structure of toxic metals during incineration and their changes in the quench process at 1125-553 K and 503-493 K, respectively. Note that copper may play an important role in catalytic formation of dioxins during incineration. Speciation of copper in the fly ashes has, therefore, been studied by X-ray absorption spectroscopy in the present work. About 24% of nano copper in the fly ash was observed by least-squares-fitted XANES (X-ray absorption near edge structural) spectroscopy. Sintering of the fly ash at 1423 K for 30 min led to a reduction of the nano CuO content to 8%.

  15. Pest Control on the "Fly"

    Science.gov (United States)

    2002-01-01

    FlyCracker(R), a non-toxic and environmentally safe pesticide, can be used to treat and control fly problems in closed environments such as milking sheds, cattle barns and hutches, equine stables, swine pens, poultry plants, food-packing plants, and even restaurants, as well as in some outdoor animal husbandry environments. The product can be applied safely in the presence of animals and humans, and was recently permitted for use on organic farms as livestock production aids. FlyCracker's carbohydrate technology kills fly larvae within 24 hours. By killing larvae before they reach the adult stages, FlyCracker eradicates another potential breeding population. Because the process is physical-not chemical-flies and other insects never develop resistance to the treatment, giving way to unlimited use of product, while still keeping the same powerful effect.

  16. Fly Ash Amendments Catalyze Soil Carbon Sequestration

    Energy Technology Data Exchange (ETDEWEB)

    Amonette, James E.; Kim, Jungbae; Russell, Colleen K.; Palumbo, A. V.; Daniels, William L.

    2003-09-15

    We tested the effects of four alkaline fly ashes {Class C (sub-bituminous), Class F (bituminous), Class F [bituminous with flue-gas desulfurization (FGD) products], and Class F (lignitic)} on a reaction that simulates the enzyme-mediated formation of humic materials in soils. The presence of FGD products completely halted the reaction, and the bituminous ash showed no benefit over an ash-free control. The sub-bituminous and lignitic fly ashes, however, increased the amount of polymer formed by several-fold. The strong synergetic effect of these ashes when enzyme is present apparently arises from the combined effects of metal oxide co-oxidation (Fe and Mn oxides), alkaline pH, and physical stabilization of the enzyme (porous silica cenospheres).

  17. Management of the Navy Flying Hour Program: responsibilities and challenges for the Type Commander

    OpenAIRE

    Smith, George S.

    1990-01-01

    Approved for public release; distribution is unlimited. This thesis examines the Navy Flying Hour Program at Commander, Naval Air Forces Pacific Fleet (CNAP) in order to understand the complexities and challenges, of managing this program at the Type Commander level. An overview of the Flying Hour Program's budget formation and approval process is presented in order to provide a basic understanding of how fiscal resources for the Flying Hour Program are derived, documented, and granted wit...

  18. A Collision Resilient Flying Robot

    OpenAIRE

    Briod, Adrien; Kornatowski, Przemyslaw Mariusz; Zufferey, Jean-Christophe; Floreano, Dario

    2014-01-01

    Flying robots that can locomote efficiently in GPS-denied cluttered environments have many applications, such as in search and rescue scenarios. However, dealing with the high amount of obstacles inherent to such environments is a major challenge for flying vehicles. Conventional flying platforms cannot afford to collide with obstacles, as the disturbance from the impact may provoke a crash to the ground, especially when friction forces generate torques affecting the attitude of the platform....

  19. Expanded Perspectives on Autonomous Learners

    Science.gov (United States)

    Oxford, Rebecca L.

    2015-01-01

    This paper explores two general perspectives on autonomous learners: psychological and sociocultural. These perspectives introduce a range of theoretically grounded facets of autonomous learners, facets such as the self-regulated learner, the emotionally intelligent learner, the self-determined learner, the mediated learner, the socioculturally…

  20. Mass rearing methods for fruit fly

    International Nuclear Information System (INIS)

    The most common rearing methods used for mass rearing of fruit flies, with emphasis on those of economic importance in Mexico such as Anastrepha ludens (the Mexican fruit fly). Anastrepha obliqua (the mango and plum fruit fly) and the exotic fruit fly Ceratitis capitata (the Mediterranean fruit fly) are described here. (author)

  1. Dielectric properties of fly ash

    Indian Academy of Sciences (India)

    S C Raghavendra; R L Raibagkar; A B Kulkarni

    2002-02-01

    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).

  2. Just Let Me Fly

    OpenAIRE

    McGovern, Jim

    2011-01-01

    ‘Just Let Me Fly’ is a three act play by Jim McGovern. The underlying genre is tragedy with some dry humour and incidental music. The main theme is academic rivalry and the feeling of being repressed or bullied. The context is a department of aeronautical engineering at a university. An audio play variant is also available: ‘Fly Faster.’ The main character, Leonard Twiglet, is a middle-aged Reader in Aeronautical Engineering at the University of Selfridge. Between the spring of 200...

  3. Flying over decades

    Science.gov (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.

  4. Evolutionary Autonomous Health Monitoring System (EAHMS) Project

    Data.gov (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...

  5. Neural network regulation driven by autonomous neural firings

    Science.gov (United States)

    Cho, Myoung Won

    2016-07-01

    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.

  6. 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

    2016-01-01

    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...

  7. 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

    2014-01-01

    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...

  8. Mobile Intelligent Autonomous Systems

    Directory of Open Access Journals (Sweden)

    Jitendra R. Raol

    2010-01-01

    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,

  9. Autonomous Spacecraft Communication Interface for Load Planning

    Science.gov (United States)

    Dever, Timothy P.; May, Ryan D.; Morris, Paul H.

    2014-01-01

    Ground-based controllers can remain in continuous communication with spacecraft in low Earth orbit (LEO) with near-instantaneous communication speeds. This permits near real-time control of all of the core spacecraft systems by ground personnel. However, as NASA missions move beyond LEO, light-time communication delay issues, such as time lag and low bandwidth, will prohibit this type of operation. As missions become more distant, autonomous control of manned spacecraft will be required. The focus of this paper is the power subsystem. For present missions, controllers on the ground develop a complete schedule of power usage for all spacecraft components. This paper presents work currently underway at NASA to develop an architecture for an autonomous spacecraft, and focuses on the development of communication between the Mission Manager and the Autonomous Power Controller. These two systems must work together in order to plan future load use and respond to unanticipated plan deviations. Using a nominal spacecraft architecture and prototype versions of these two key components, a number of simulations are run under a variety of operational conditions, enabling development of content and format of the messages necessary to achieve the desired goals. The goals include negotiation of a load schedule that meets the global requirements (contained in the Mission Manager) and local power system requirements (contained in the Autonomous Power Controller), and communication of off-plan disturbances that arise while executing a negotiated plan. The message content is developed in two steps: first, a set of rapid-prototyping "paper" simulations are preformed; then the resultant optimized messages are codified for computer communication for use in automated testing.

  10. Development of construction materials using coal fly-ash

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Moon Young; Yoo, Jang Han; Lee, Moo Sung [Korea Institute of Geology Mining and Materials, Taejon (Korea, Republic of)

    1996-12-01

    The research is intended to find out the possibilities for utility of building materials such as brick with various mixtures of the kaolin and clay. The kaolin belong to the PD, PC and WC grades which from the fly ash of the Honam and the Samcheonpo thermal power plants and clay (HD) from the Hwangdeung, Hadong and Sancheong areas. 1) -200 mesh grain size of fly ash shows higher alkali contents than +200 mesh grains. Especially, alkali components such as CaO (10.58 %), MgO (1.67 %) and Na{sub 2}O (0.53 %) have contributed to make dense structure because of the alkalis are fusion materials. For example, 50 % mixture ratio of fly ash and clay shows the compressional strength of 1,700 kg/cm{sup 2}. The higher mixture ratio of fly ash and clay, the higher compressional intensity is found in general. 2) As the result of the reaction between CaO and Na{sub 2}O compositions in the Honam fly ash, and SiO{sub 2} and Al{sub 2}O{sub 3} in clay at the 1,200 deg. C has shown the formation of plagioclase crystal. 3) Fly ash in the Samcheonpo thermal power plants has lower contents of alkali component than the fly ash in the Honam. If the mixture ratio of fly ash is 10 % the compressional strength is found to be 600-720 kg/cm{sup 2}, that is because of the higher concentrations of uncombustible carbon in the Samcheonpo plant. The compressional intensity decreases as the fly ash contents are increased. When the ratio of mixture in the fly ash is 50 %, the compressional intensity shows 270-300 kg/cm{sup 2}. 4) Mixture experiments among PD, PC and WC grades of kaolin, the sintering has not formed in the grains at the 1,200 deg. C and the compressional strength is rather low with 60{approx}125 kg/cm{sup 2}. At the temperature of sintering is 1250 deg. C the sintering in the grains has been taken place with 210 kg/cm{sup 2}. But the temperature of 1,300 deg. C, the surface of sintering materials shows cracks. 5) The possibilities for usage of fly ash to develop the bricks with various

  11. Using fly ash for construction

    Energy Technology Data Exchange (ETDEWEB)

    Valenti, M.

    1995-05-01

    Each year electrical utilities generate 80 million tons of fly ash, primarily from coal combustion. Typically, utilities dispose of fly ash by hauling it to landfills, but that is changing because of the increasing cost of landfilling, as well as environmental regulations. Now, the Electric Power Research Institute (EPRI), in Palo Alto, Calif., its member utilities, and manufacturers of building materials are finding ways of turning this energy byproduct into the building blocks of roads and structures by converting fly ash into construction materials. Some of these materials include concrete and autoclaved cellular concrete (ACC, also known as aerated concrete), flowable fill, and light-weight aggregate. EPRI is also exploring uses for fly ash other than in construction materials. One of the more high-end uses for the material is in metal matrix composites. In this application, fly ash is mixed with softer metals, such as aluminum and magnesium, to strengthen them, while retaining their lighter weight.

  12. 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

    2016-01-01

    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.

  13. Cybersecurity for aerospace autonomous systems

    Science.gov (United States)

    Straub, Jeremy

    2015-05-01

    High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

  14. Analysis of Fly Fishing Rod Casting Dynamics

    OpenAIRE

    Gang Wang; Norman Wereley

    2011-01-01

    An analysis of fly fishing rod casting dynamics was developed comprising of a nonlinear finite element representation of the composite fly rod and a lumped parameter model for the fly line. A nonlinear finite element model was used to analyze the transient response of the fly rod, in which fly rod responses were simulated for a forward casting stroke. The lumped parameter method was used to discretize the fly line system. Fly line motions were simulated during a cast based on fly rod tip resp...

  15. Pandora bullata (Entomophthoromycota: Entomophthorales) affecting calliphorid flies in central Brazil.

    Science.gov (United States)

    Montalva, Cristian; Collier, Karin; Luz, Christian; Humber, Richard A

    2016-06-01

    Fungi are where one finds them, and if one seeks fungal pathogens affecting flies, then a garbage dump may be an ideal place to find both persistent, abundant fly populations and their fungal pathogens. An obvious fungal epizootic affecting the oriental latrine fly, Chrysomya megacephala (Diptera: Calliphoridae), was observed over several days in mid-February 2015 at the local garbage dump adjacent to the city of Cavalcante, northern Goiás. This site harbored large populations of both C. megacephala and a Musca sp. (Diptera: Muscidae) but only the population of oriental latrine fly was affected by any fungal pathogen and presented unusually dense populations of fresh cadavers. The fungus was identifiable as Pandora bullata (Entomophthorales: Entomophthoraceae) only after a very small number of characteristically decorated resting spores were found in these flies two months later; this represents the first Brazilian (and South American) record of this species. P. bullata is known previously from a small number of North American, European and Australian collections, all of which have included relatively abundant production of resting spores. We cannot dismiss the possibility that the extremely sparse formation of resting spores at this Brazilian site may be due to abiotic factors such as latitude (13°46'40.53″S), day length, ambient temperatures, or even the precipitation patterns in this mid-tropical montaine site. Epizootic events affecting calliphorids in Brazil strengthen the interest in entomophthoran pathogens for biological control of flies. PMID:26968351

  16. 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...... a wind farm in Lolland and on an atmospheric campaign in France. Planning of an offshore campaign using the developed techniques is underway....

  17. Bending to fly

    CERN Document Server

    Thiria, Benjamin

    2010-01-01

    Wing flexibility governs the flying performance of flapping wing flyers. Here we use a self-propelled flapping-wing model mounted on a "merry-go-round" to investigate the effect of wing compliance on the propulsive efficiency of the system. Our measurements show that the elastic nature of the wings can lead not only to a substantial reduction of the consumed power, but also to an increment of the propulsive force. A scaling analysis using a flexible plate model for the wings points out that, for flapping flyers in air, the time-dependent shape of the elastic bending wing is governed by the wing inertia. Based on this prediction, we define the ratio of the inertial forces deforming the wing to the elastic restoring force that limits the deformation as the 'elasto-inertial number'. Our measurements with the self-propelled model confirm that it is the appropriate structural parameter to describe flapping flyers with flexible-wings.

  18. Autonomous gliding entry guidance with geographic constraints

    Institute of Scientific and Technical Information of China (English)

    Guo Jie; Wu Xuzhong; Tang Shengjing

    2015-01-01

    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.

  19. Autonomic Dysregulation in Multiple Sclerosis.

    Science.gov (United States)

    Pintér, Alexandra; Cseh, Domonkos; Sárközi, Adrienn; Illigens, Ben M; Siepmann, Timo

    2015-01-01

    Multiple sclerosis (MS) is a chronic, progressive central neurological disease characterized by inflammation and demyelination. In patients with MS, dysregulation of the autonomic nervous system may present with various clinical symptoms including sweating abnormalities, urinary dysfunction, orthostatic dysregulation, gastrointestinal symptoms, and sexual dysfunction. These autonomic disturbances reduce the quality of life of affected patients and constitute a clinical challenge to the physician due to variability of clinical presentation and inconsistent data on diagnosis and treatment. Early diagnosis and initiation of individualized interdisciplinary and multimodal strategies is beneficial in the management of autonomic dysfunction in MS. This review summarizes the current literature on the most prevalent aspects of autonomic dysfunction in MS and provides reference to underlying pathophysiological mechanisms as well as means of diagnosis and treatment. PMID:26213927

  20. Framework for Autonomous Optimization Project

    Data.gov (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...

  1. Automated Search-Based Robustness Testing for Autonomous Vehicle Software

    Directory of Open Access Journals (Sweden)

    Kevin M. Betts

    2016-01-01

    Full Text Available Autonomous systems must successfully operate in complex time-varying spatial environments even when dealing with system faults that may occur during a mission. Consequently, evaluating the robustness, or ability to operate correctly under unexpected conditions, of autonomous vehicle control software is an increasingly important issue in software testing. New methods to automatically generate test cases for robustness testing of autonomous vehicle control software in closed-loop simulation are needed. Search-based testing techniques were used to automatically generate test cases, consisting of initial conditions and fault sequences, intended to challenge the control software more than test cases generated using current methods. Two different search-based testing methods, genetic algorithms and surrogate-based optimization, were used to generate test cases for a simulated unmanned aerial vehicle attempting to fly through an entryway. The effectiveness of the search-based methods in generating challenging test cases was compared to both a truth reference (full combinatorial testing and the method most commonly used today (Monte Carlo testing. The search-based testing techniques demonstrated better performance than Monte Carlo testing for both of the test case generation performance metrics: (1 finding the single most challenging test case and (2 finding the set of fifty test cases with the highest mean degree of challenge.

  2. Autonomous Gaussian Decomposition

    Science.gov (United States)

    Lindner, Robert R.; Vera-Ciro, Carlos; Murray, Claire E.; Stanimirović, Snežana; Babler, Brian; Heiles, Carl; Hennebelle, Patrick; Goss, W. M.; Dickey, John

    2015-04-01

    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.

  3. Semantic Web Meets Autonomic Ubicomp

    OpenAIRE

    Belecheanu, R A; Jawaheer, G; Hoskins, A.; McCann, J; Payne, T.

    2004-01-01

    The placement of autonomic systems’ management functionality into a ubiquitous computing environment is a difficult task due to the lack of systems’ resources and the need for ‘intelligence’ to ensure that the system is selfhealing/ organising or configuring. For such systems to adapt to changes to their current environment they need to be able to (re) configure the workflow of their services. In this paper, we propose the ANS, an autonomic middleware for ubicomp devices. We briefly describe ...

  4. Design of Autonomous Gel Actuators

    OpenAIRE

    Shuji Hashimoto; Shingo Maeda; Yusuke Hara; Satoshi Nakamaru

    2011-01-01

    In this paper, we introduce autonomous gel actuators driven by chemical energy. The polymer gels prepared here have cyclic chemical reaction networks. With a cyclic reaction, the polymer gels generate periodical motion. The periodic motion of the gel is produced by the chemical energy of the oscillatory Belouzov-Zhabotinsky (BZ) reaction. We have succeeded in making synthetic polymer gel move autonomously like a living organism. This experimental fact represents the great possibility of the c...

  5. Design of Autonomous Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto

    2011-01-01

    Full Text Available In this paper, we introduce autonomous gel actuators driven by chemical energy. The polymer gels prepared here have cyclic chemical reaction networks. With a cyclic reaction, the polymer gels generate periodical motion. The periodic motion of the gel is produced by the chemical energy of the oscillatory Belouzov-Zhabotinsky (BZ reaction. We have succeeded in making synthetic polymer gel move autonomously like a living organism. This experimental fact represents the great possibility of the chemical robot.

  6. Build Autonomic Agents with ABLE

    Institute of Scientific and Technical Information of China (English)

    吴吉义

    2007-01-01

    The IBM Agent Building and Learning Environment(ABLE) provides a lightweight Java~(TM) agent frame- work,a comprehensive JavaBeansTM library of intelligent software components,a set of development and test tools, and an agent platform.After the introduction to ABLE,classes and interfaces in the ABLE agent framework were put forward.At last an autonomic agent that is an ABLE-based architecture for incrementally building autonomic systems was discussed.

  7. 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.M.Q.

    and reduced data �� Ease in operation and one man deployable 2 Fig.1. Autonomous Vertical Profiler Table 1. Autonomous Vertical Profiler Specifications 2. Communication Communication with the AVP is through the satellite modem... Aluminum alloy, Acetal nose & tail cones Propulsion Single DC thruster Electronics 8051 and ARM7 microcontroller based Communication Radio modem (2.4 GHz) & Satellite Transmission (Iridium) GUI Labview based Energy Source Lithium Ion Polymer batteries...

  8. Africa and the tsetse fly

    International Nuclear Information System (INIS)

    Trypanosomiasis, an infection transmitted by the tsetse fly and causing sleeping sickness in man and Nagana disease in animals, is widespread in Africa. It affects 37 countries (an area as large as the United States) and leads to great losses in the national economy. It can be fought effectively by programmes to eradicate the tsetse fly with the sterile insect technique. The film shows the tsetse habitats and biology and demonstrates how its reproduction circle can be interrupted by sterilization of male flies with gamma rays. This method has proven an effective alternative to the use of pesticides because its efficiency increases with each generation and it causes no environmental pollution problems

  9. Roll Control in Fruit Flies

    CERN Document Server

    Beatus, Tsevi; Cohen, Itai

    2014-01-01

    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.

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

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    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.

  11. Fly ash. Quality recycling material

    Energy Technology Data Exchange (ETDEWEB)

    Blomster, D.; Leisio, C.

    1996-11-01

    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.)

  12. Flying in Two Dimensions

    CERN Document Server

    Prakash, Manu

    2011-01-01

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

    Science.gov (United States)

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

    2016-01-01

    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. PMID:26906187

  14. Novel Approaches for Spacecraft Formation Robustness and Performance using Distributed Estimation, Control and Communication Project

    Data.gov (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...

  15. Integrated Motion Planning and Autonomous Control Technology for Autonomous ISR Project

    Data.gov (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...

  16. Autonomous Landing on Moving Platforms

    KAUST Repository

    Mendoza Chavez, Gilberto

    2016-08-01

    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.

  17. 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)

    2010-07-01

    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.

  18. Autonomic Function in Neurodegenerative Diseases

    DEFF Research Database (Denmark)

    Sørensen, Gertrud Laura; Jennum, Poul Jørgen

    2013-01-01

    involving brain stem areas, which is consistent with the Braak hypothesis. In the narcolepsy patients, it was shown that a reduced HRR to arousals was primarily predicted by hypocretin deficiency in both rapid-eye-movement (REM) and non-REM sleep, independent of cataplexy and other factors. The results......, 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...... narcolepsy patients on autonomic function and on the sleep transition rate. The results showed an attenuated heart rate response (HRR) in PD patients compared to controls and early PD (iRBD patients). Also iRBD patients had an attenuated HRR compared to control subjects, and the method to measure the HRR may...

  19. Synthesis of Zeolites by Alkaline Activation of Fly Ash

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    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.

  20. Scalable autonomous operations of unmanned assets

    Science.gov (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

  1. Microstructure and some mechanical properties of fly ash particulate reinforced AA6061 aluminum alloy composites prepared by compocasting

    International Nuclear Information System (INIS)

    Highlights: ► Fabrication of AA6061/fly ash AMC by compocasting method. ► Incorporation of fly ash particles into the semi solid aluminum melt. ► No interfacial reaction between the aluminum matrix and fly ash particle. ► Uniform distribution of fly ash particles having clear interface and good bonding. ► Fly ash particles enhanced the mechanical properties of the AMC. - Abstract: Fly ash has gathered widespread attention as a potential reinforcement for aluminum matrix composites (AMCs) to enhance the properties and reduce the cost of production. Aluminum alloy AA6061 reinforced with various amounts (0, 4, 8 and 12 wt.%) of fly ash particles were prepared by compocasting method. Fly ash particles were incorporated into the semi solid aluminum melt. X-ray diffraction patterns of the prepared AMCs revealed the presence of fly ash particles without the formation of any other intermetallic compounds. The microstructures of the AMCs were analyzed using scanning electron microscopy. The AMCs were characterized with the homogeneous dispersion of fly ash particles having clear interface and good bonding to the aluminum matrix. The incorporation of fly ash particles improved the microhardness and ultimate tensile strength (UTS) of the AMCs

  2. Discerning non-autonomous dynamics

    Energy Technology Data Exchange (ETDEWEB)

    Clemson, Philip T.; Stefanovska, Aneta, E-mail: aneta@lancaster.ac.uk

    2014-09-30

    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

  3. Autonomous Home Automated Hexapod Robot

    Directory of Open Access Journals (Sweden)

    Addanki Purna Ramesh,

    2010-12-01

    Full Text Available This paper focuses on design and implementation of six legged robot that is capable of monitoring and performing house hold works independently. The Autonomous Home Automated Hexapod is developed with three AT89C52 microcontrollers which functions as brain of the robot to which all operating functions of each module are chronologically programmed in it. The legs of the robot were developed with 2 servo motors to provide two degree for each leg. Several additional sensors like TSOP1738 (IR, RF transmitter andreceiver, DS1307 (Real Time Clock have been embedded into robot in modular form to make it work autonomously.

  4. Progress towards autonomous, intelligent systems

    Science.gov (United States)

    Lum, Henry; Heer, Ewald

    1987-01-01

    An aggressive program has been initiated to develop, integrate, and implement autonomous systems technologies starting with today's expert systems and evolving to autonomous, intelligent systems by the end of the 1990s. This program includes core technology developments and demonstration projects for technology evaluation and validation. This paper discusses key operational frameworks in the content of systems autonomy applications and then identifies major technological challenges, primarily in artificial intelligence areas. Program content and progress made towards critical technologies and demonstrations that have been initiated to achieve the required future capabilities in the year 2000 era are discussed.

  5. Discerning non-autonomous dynamics

    International Nuclear Information System (INIS)

    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

  6. Gas House Autonomous System Monitoring

    Science.gov (United States)

    Miller, Luke; Edsall, Ashley

    2015-01-01

    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.

  7. Intelligent, autonomous systems in space

    Science.gov (United States)

    Lum, H.; Heer, E.

    1988-01-01

    The Space Station is expected to be equipped with intelligent, autonomous capabilities; to achieve and incorporate these capabilities, the required technologies need to be identitifed, developed and validated within realistic application scenarios. The critical technologies for the development of intelligent, autonomous systems are discussed in the context of a generalized functional architecture. The present state of this technology implies that it be introduced and applied in an evolutionary process which must start during the Space Station design phase. An approach is proposed to accomplish design information acquisition and management for knowledge-base development.

  8. Contingency Software in Autonomous Systems

    Science.gov (United States)

    Lutz, Robyn; Patterson-Hine, Ann

    2006-01-01

    This viewgraph presentation reviews the development of contingency software for autonomous systems. Autonomous vehicles currently have a limited capacity to diagnose and mitigate failures. There is a need to be able to handle a broader range of contingencies. The goals of the project are: 1. Speed up diagnosis and mitigation of anomalous situations.2.Automatically handle contingencies, not just failures.3.Enable projects to select a degree of autonomy consistent with their needs and to incrementally introduce more autonomy.4.Augment on-board fault protection with verified contingency scripts

  9. Geochemically structural characteristics of municipal solid waste incineration fly ash particles and mineralogical surface conversions by chelate treatment.

    Science.gov (United States)

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

    2016-01-01

    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. PMID:26336844

  10. A Robust Compositional Architecture for Autonomous Systems

    Science.gov (United States)

    Brat, Guillaume; Deney, Ewen; Farrell, Kimberley; Giannakopoulos, Dimitra; Jonsson, Ari; Frank, Jeremy; Bobby, Mark; Carpenter, Todd; Estlin, Tara

    2006-01-01

    Space exploration applications can benefit greatly from autonomous systems. Great distances, limited communications and high costs make direct operations impossible while mandating operations reliability and efficiency beyond what traditional commanding can provide. Autonomous systems can improve reliability and enhance spacecraft capability significantly. However, there is reluctance to utilizing autonomous systems. In part this is due to general hesitation about new technologies, but a more tangible concern is that of reliability of predictability of autonomous software. In this paper, we describe ongoing work aimed at increasing robustness and predictability of autonomous software, with the ultimate goal of building trust in such systems. The work combines state-of-the-art technologies and capabilities in autonomous systems with advanced validation and synthesis techniques. The focus of this paper is on the autonomous system architecture that has been defined, and on how it enables the application of validation techniques for resulting autonomous systems.

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

    OpenAIRE

    Keith Storey

    2010-01-01

    “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 dra...

  12. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  13. 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...

  14. The Bering Autonomous Target Detection

    DEFF Research Database (Denmark)

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

    2003-01-01

    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...

  15. Computing architecture for autonomous microgrids

    Science.gov (United States)

    Goldsmith, Steven Y.

    2015-09-29

    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 .

  16. Autonomous systems for plant protection

    DEFF Research Database (Denmark)

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

    2010-01-01

    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...

  17. Autonomous Duffing-Holmes Type Chaotic Oscillator

    DEFF Research Database (Denmark)

    Tamaševičius, A.; Bumelienė, S.; Kirvaitis, R.; Mykolaitis, G.; Tamaševičiūtė, E.; Lindberg, Erik

    2009-01-01

    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, it is...

  18. Indoor Autonomous Airship Control and Navigation System

    OpenAIRE

    Fedorenko Roman; Krukhmalev Victor

    2016-01-01

    The paper presents an automatic control system for autonomous airship. The system is designed to organize autonomous flight of the mini-airship performing flight mission defined from ground control station. Structure, hardware and software implementation of indoor autonomous airship and its navigation and control system as well as experiment results are described.

  19. Indoor Autonomous Airship Control and Navigation System

    Directory of Open Access Journals (Sweden)

    Fedorenko Roman

    2016-01-01

    Full Text Available The paper presents an automatic control system for autonomous airship. The system is designed to organize autonomous flight of the mini-airship performing flight mission defined from ground control station. Structure, hardware and software implementation of indoor autonomous airship and its navigation and control system as well as experiment results are described.

  20. Fruit Flies Help Human Sleep Research

    Science.gov (United States)

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

  1. Autonomic computing enabled cooperative networked design

    CERN Document Server

    Wodczak, Michal

    2014-01-01

    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

  2. Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer

    Science.gov (United States)

    Wehner, Walter S., Jr.

    2013-01-01

    Working on the ACLO (Autonomous Cryogenics Loading Operations) project I have had the opportunity to add functionality to the physics simulation software known as KATE (Knowledgebase Autonomous Test Engineer), create a new application allowing WYSIWYG (what-you-see-is-what-you-get) creation of KATE schematic files and begin a preliminary design and implementation of a new subsystem that will provide vision services on the IHM (Integrated Health Management) bus. The functionality I added to KATE over the past few months includes a dynamic visual representation of the fluid height in a pipe based on number of gallons of fluid in the pipe and implementing the IHM bus connection within KATE. I also fixed a broken feature in the system called the Browser Display, implemented many bug fixes and made changes to the GUI (Graphical User Interface).

  3. Flying in Nightmares - A Neglected Phenomenon

    OpenAIRE

    Schönhammer, Rainer

    2000-01-01

    It is widely supposed in the scientific and popular literature on dreams that flying in dreams is of mostly delightful character. Domhoff (1996) recently emphasised the highly positive feelings experienced in flying dreams although he mentions a turn to apprehension later in the dream ("crashing", "coming down"). In my research (an interview-sample of flying dreams) I met flying experiences in contexts of nightmares which are seldom mentioned and never thoroughly discussed in interdiscipli...

  4. Airship formation control

    OpenAIRE

    Bicho, E.; Moreira, André; Diegues, Sérgio; Carvalheira, Manuel Pereira; Monteiro, Sérgio

    2006-01-01

    This paper addresses the problem underlying the control and coordination of multiple autonomous airships that must travel maintaining a desired geometric formation and simultaneously avoid collisions with moving or stationary obstacles. The control architecture is based on the attractor dynamics approach to behaviour generation. The airship physical model is presented and the mathematical background for the control architecture is explained. Simulations (with perturbations) ...

  5. FlyBase 101 – the basics of navigating FlyBase

    OpenAIRE

    McQuilton, Peter; St. Pierre, Susan E.; Thurmond, Jim; ,

    2011-01-01

    FlyBase (http://flybase.org) is the leading database and web portal for genetic and genomic information on the fruit fly Drosophila melanogaster and related fly species. Whether you use the fruit fly as an experimental system or want to apply Drosophila biological knowledge to another field of study, FlyBase can help you successfully navigate the wealth of available Drosophila data. Here, we review the FlyBase web site with novice and less-experienced users of FlyBase in mind and point out re...

  6. SAMURAI: Polar AUV-Based Autonomous Dexterous Sampling

    Science.gov (United States)

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

    2006-12-01

    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.

  7. Flies and Campylobacter infection of broiler flocks

    DEFF Research Database (Denmark)

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

    2004-01-01

    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...

  8. Flies and Campylobacter infection of broiler flocks

    DEFF Research Database (Denmark)

    Hald, Birthe; Skovgård, Henrik; Bang, Dang Duong; Pedersen, Karl; Dybdahl, Jens; Jespersen, Jørgen B.; Madsen, Mogens

    2004-01-01

    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...... infection of broiler flocks in summer....

  9. DURABILITY OF HARDENED FLY ASH PASTE

    Institute of Scientific and Technical Information of China (English)

    1999-01-01

    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.

  10. Molecular diagnostics & phylogenetics of filth fly parasitoids

    Science.gov (United States)

    Several species of synanthropic muscoid flies, often referred to as filth flies, breed in animal wastes and are serious pests of humans and livestock. Pteromalid wasps are among the most promising biological control agents for these filth flies. Because of their small size and relative lack of morph...

  11. Choreographing the fly's danse macabre.

    Science.gov (United States)

    Poon, Peter C; Pletcher, Scott D

    2007-08-01

    In several species, immune signaling networks are emerging as critical modulators of disease resistance, energy metabolism, and aging. In this issue of Cell Metabolism, Ren et al. (2007) lay the groundwork for dissecting the mechanisms of this coordination by characterizing the interplay between microbial pathogens and aging in the fly. PMID:17681142

  12. Physics between a Fly's Ears

    Science.gov (United States)

    Denny, Mark

    2008-01-01

    A novel method of localizing the direction of a source of sound has evolved in the auditory system of certain small parasitic flies. A mechanical model of this design has been shown to describe the system well. Here, a simplified version of this mechanical model is presented which demonstrates the key feature: direction estimates of high accuracy…

  13. The Spider and the Fly

    Science.gov (United States)

    Mellinger, Keith E.; Viglione, Raymond

    2012-01-01

    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. Electrodialytic treatment of fly ash

    DEFF Research Database (Denmark)

    Jensen, Pernille Erland; Pedersen, Anne Juul; Kirkelund, Gunvor Marie; Ottosen, Lisbeth M.

    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...

  15. Distributed autonomous systems: resource management, planning, and control algorithms

    Science.gov (United States)

    Smith, James F., III; Nguyen, ThanhVu H.

    2005-05-01

    Distributed autonomous systems, i.e., systems that have separated distributed components, each of which, exhibit some degree of autonomy are increasingly providing solutions to naval and other DoD problems. Recently developed control, planning and resource allocation algorithms for two types of distributed autonomous systems will be discussed. The first distributed autonomous system (DAS) to be discussed consists of a collection of unmanned aerial vehicles (UAVs) that are under fuzzy logic control. The UAVs fly and conduct meteorological sampling in a coordinated fashion determined by their fuzzy logic controllers to determine the atmospheric index of refraction. Once in flight no human intervention is required. A fuzzy planning algorithm determines the optimal trajectory, sampling rate and pattern for the UAVs and an interferometer platform while taking into account risk, reliability, priority for sampling in certain regions, fuel limitations, mission cost, and related uncertainties. The real-time fuzzy control algorithm running on each UAV will give the UAV limited autonomy allowing it to change course immediately without consulting with any commander, request other UAVs to help it, alter its sampling pattern and rate when observing interesting phenomena, or to terminate the mission and return to base. The algorithms developed will be compared to a resource manager (RM) developed for another DAS problem related to electronic attack (EA). This RM is based on fuzzy logic and optimized by evolutionary algorithms. It allows a group of dissimilar platforms to use EA resources distributed throughout the group. For both DAS types significant theoretical and simulation results will be presented.

  16. Synthesis of hydroxy sodalite from coal fly ash using waste industrial brine solution.

    Science.gov (United States)

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

    2011-01-01

    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. PMID:22175873

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

    OpenAIRE

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

    2012-01-01

    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 spatial resolution. The pres...

  18. Development of autonomous operation system

    International Nuclear Information System (INIS)

    To enhance operation reliability of nuclear plants by removing human factors, study on an autonomous operation system has been carried out to substitute artificial intelligence (AI) for plant operators and, in addition, traditional controllers used in existing plants. For construction of the AI system, structurization of knowledge on the basis of the principles such as physical laws, function and structure of relevant objects and generalization of problem solving process are intended. A hierarchical distributed cooperative system configuration in employed because it is superior from the viewpoint of dynamical reorganization of system functions. This configuration is realized by an object-oriented multi-agent system. Construction of a prototype system was planned and the conceptual design was made for FBR plant in order to evaluate applicability of AI to the autonomous operation and to have a prospect for the realization of the system. The prototype system executes diagnosis, state evaluation, operation and control for the main plant subsystems. (author)

  19. An Autonomously Reciprocating Transmembrane Nanoactuator.

    Science.gov (United States)

    Watson, Matthew A; Cockroft, Scott L

    2016-01-22

    Biological molecular machines operate far from equilibrium by coupling chemical potential to repeated cycles of dissipative nanomechanical motion. This principle has been exploited in supramolecular systems that exhibit true machine behavior in solution and on surfaces. However, designed membrane-spanning assemblies developed to date have been limited to simple switches or stochastic shuttles, and true machine behavior has remained elusive. Herein, we present a transmembrane nanoactuator that turns over chemical fuel to drive autonomous reciprocating (back-and-forth) nanomechanical motion. Ratcheted reciprocating motion of a DNA/PEG copolymer threaded through a single α-hemolysin pore was induced by a combination of DNA strand displacement processes and enzyme-catalyzed reactions. Ion-current recordings revealed saw-tooth patterns, indicating that the assemblies operated in autonomous, asymmetric cycles of conformational change at rates of up to one cycle per minute. PMID:26661295

  20. Cardiovascular autonomic neuropathy in diabetes

    DEFF Research Database (Denmark)

    Spallone, Vincenza; Ziegler, Dan; Freeman, Roy;

    2011-01-01

    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...... in the setting of diabetes after exclusion of other causes. The prevalence of confirmed CAN is around 20%, and increases up to 65% with age and diabetes duration. Established risk factors for CAN are glycaemic control in type 1 and a combination of hypertension, dyslipidemia, obesity and glycaemic control...... 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...

  1. Treatment of gastrointestinal autonomic neuropathy.

    Science.gov (United States)

    Törnblom, Hans

    2016-03-01

    The symptoms caused by gastrointestinal autonomic neuropathy in diabetes mellitus is important to highlight since it affects a large proportion of people with diabetes, regardless of whether this is type 1 or type 2. Gastroparesis and general signs of bowel dysfunction, such as constipation, diarrhoea and abdominal pain are most often encountered and involve both pharmacological and non-pharmacological treatment options. This mini-review summarises a presentation given at the 'Diagnosis and treatment of autonomic diabetic neuropathy in the gut' symposium at the 2015 annual meeting of the EASD. It is accompanied by another mini-review on a topic from this symposium (by Azpiroz and Malagelada, DOI: 10.1007/s00125-015-3831-1 ) and a commentary by the Session Chair, Péter Kempler (DOI: 10.1007/s00125-015-3826-y ). PMID:26634570

  2. Advancing Autonomous Structural Health Monitoring

    OpenAIRE

    Grisso, Benjamin Luke

    2007-01-01

    The focus of this dissertation is aimed at advancing autonomous structural health monitoring. All the research is based on developing the impedance method for monitoring structural health. The impedance technique utilizes piezoelectric patches to interrogate structures of interested with high frequency excitations. These patches are bonded directly to the structure, so information about the health of the structure can be seen in the electrical impedance of the piezoelectric patch. However, tr...

  3. Insurance for autonomous underwater vehicles

    OpenAIRE

    Griffiths, G; N Bose; Ferguson, J.; Blidberg, D.R.

    2007-01-01

    The background and practice of insurance for autonomous underwater vehicles (AUVs) are examined. Key topics include: relationships between clients, brokers and underwriters; contract wording to provide appropriate coverage; and actions to take when an incident occurs. Factors that affect cost of insurance are discussed, including level of autonomy, team experience and operating environment. Four case studies from industry and academia illustrate how AUV insurance has worked in practice. The p...

  4. Autonomous gliding entry guidance with

    OpenAIRE

    Guo Jie; Wu Xuzhong; Tang Shengjing

    2015-01-01

    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 traje...

  5. Robotic perception for autonomous navigation

    OpenAIRE

    Furlan,

    2014-01-01

    This thesis presents the research work the author carried on during his PhD on the topic of robotic perception for autonomous navigation. In particular, the efforts focus on the Self-Localization, Scene Understanding and Object Detection and Tracking problems, proposing for each of these three topics one or more approaches that present an improvement over the state-of-the-art. In some cases the proposed approaches mutually exploit the generated information to improve the quality of the final ...

  6. Prototype design for autonomous vehicle

    OpenAIRE

    Lehander, Jacob; Persson, Joel

    2015-01-01

    This thesis describes the mechanical design of a prototype vehicle developed for a company located in California. The project was based on an earlier vehicle located at KTH, Transport Labs, and investigated if the existing concept for the vehicle would work as a concept for an autonomous prototype, with focus on component layout and increased forces. The design of the vehicle is based on a concept with a carbon fiber bottom plate, two separate suspension modules with electric hub motors and s...

  7. Design of Autonomous Underwater Vehicle

    OpenAIRE

    Tadahiro Hyakudome

    2011-01-01

    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. Whe...

  8. Autonomous Behavior of Computational Agents

    Czech Academy of Sciences Publication Activity Database

    Vaculín, Roman; Neruda, Roman

    Wien : Springer-Verlag, 2005 - (Ribiero, B.; Albrecht, R.; Dobnikar, A.; Pearson, D.; Steele, N.), s. 514-517 ISBN 3-211-24934-6. [ICANNGA'2005 /7./. Coimbra (PT), 21.03.2005-23.03.2005] R&D Projects: GA AV ČR 1ET100300419 Institutional research plan: CEZ:AV0Z10300504 Keywords : computational agents * autonomous behavior * reasoning Subject RIV: BA - General Mathematics

  9. 基于网络自主学习的商务英语形成性评估体系的实证性研究%Formative Assessment System of Web-based Business English Autonomous Learning

    Institute of Scientific and Technical Information of China (English)

    王贵芳

    2011-01-01

    Formative assessment applies to trac king, monitoring, and assessing students' web -based selflearning process in Business English study in Zhejiang Yuexiu University of foreign languages. The assessment results are used to guide learning effort, so as to bring their potential into full play, to promote their independent learning ability, and thus make the assessment process and the teaching process an integrate whole. A formative assessment system for business English study is then established based on the research results.%形成性评估是对学习者学习过程的全面测评。在商务英语教学中运用形成性评估跟踪、监控和评估学生的网络自主学习过程,根据评估结果引导学生进行学习,使评估过程和教学过程有机地结合起来,促进学生学习能力的发展和自主学习能力的提高,并在此基础上构建了商务英语的形成性评估体系。

  10. Autonomic neuropathy in diabetes mellitus

    Directory of Open Access Journals (Sweden)

    Alberto eVerrotti

    2014-12-01

    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.

  11. Semi autonomous mine detection system

    Energy Technology Data Exchange (ETDEWEB)

    Douglas Few; Roelof Versteeg; Herman Herman

    2010-04-01

    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.

  12. 50 vs. 50 by 2015: Swarm vs. Swarm UAV Live-Fly Competition at the Naval Postgraduate School

    OpenAIRE

    Chung, Timothy H.; Jones, Kevin D.; Day, Michael A.; Jones, Marianna; Clement, Michael

    2013-01-01

    Aerial Combat Swarms is a swarm vs. swarm UA V live-fly competition, designed to inspire new concepts of operations and illuminate new tactics in unmanned systems employment, specifically in the swarm and counter-swarm robotics arenas. The competition scenario involves a tournament of "battles" where in each such battle two teams comprising many autonomous aerial robots vie for air superiority while simultaneously defending a high value unit on the ground and/or attacking th...

  13. Aerodynamics of the Smallest Flying Insects

    CERN Document Server

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

    2011-01-01

    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.

  14. Target-point formation control

    NARCIS (Netherlands)

    Mou, Shaoshuai; Cao, Ming; Morse, A. Stephen

    2015-01-01

    In this paper a new distributed feedback strategy is proposed for controlling a rigid, acyclic formation of kinematic point-modeled mobile autonomous agents in the plane. The strategy makes use of a new concept called a "target point" and is applicable to any two-dimensional, acyclic formation whose

  15. FlyBase portals to human disease research using Drosophila models.

    Science.gov (United States)

    Millburn, Gillian H; Crosby, Madeline A; Gramates, L Sian; Tweedie, Susan

    2016-03-01

    The use of Drosophila melanogaster as a model for studying human disease is well established, reflected by the steady increase in both the number and proportion of fly papers describing human disease models in recent years. In this article, we highlight recent efforts to improve the availability and accessibility of the disease model information in FlyBase (http://flybase.org), the model organism database for Drosophila. FlyBase has recently introduced Human Disease Model Reports, each of which presents background information on a specific disease, a tabulation of related disease subtypes, and summaries of experimental data and results using fruit flies. Integrated presentations of relevant data and reagents described in other sections of FlyBase are incorporated into these reports, which are specifically designed to be accessible to non-fly researchers in order to promote collaboration across model organism communities working in translational science. Another key component of disease model information in FlyBase is that data are collected in a consistent format --- using the evolving Disease Ontology (an open-source standardized ontology for human-disease-associated biomedical data) - to allow robust and intuitive searches. To facilitate this, FlyBase has developed a dedicated tool for querying and navigating relevant data, which include mutations that model a disease and any associated interacting modifiers. In this article, we describe how data related to fly models of human disease are presented in individual Gene Reports and in the Human Disease Model Reports. Finally, we discuss search strategies and new query tools that are available to access the disease model data in FlyBase. PMID:26935103

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

    Directory of Open Access Journals (Sweden)

    Mark A Frye

    2012-02-01

    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.

  17. Identification and sequences of the Treponema pallidum fliM', fliY, fliP, fliQ, fliR and flhB' genes.

    Science.gov (United States)

    Hardham, J M; Frye, J G; Stamm, L V

    1995-12-01

    Information regarding the biology and virulence attributes of Treponema pallidum (Tp) is limited due to the lack of genetic exchange mechanisms and the inability to continuously cultivate this spirochete. We have utilized TnphoA mutagenesis of a Tp genomic DNA library in Escherichia coli (Ec) to identify genes encoding exported proteins, a subset of which are likely to be important in treponemal pathogenesis. We report here the identification and nucleotide (nt) sequence of a 5-kb treponemal DNA insert that contains seven open reading frames (ORFs). The proteins encoded by six of these ORFs have homology with members of a newly described protein family involved in the biogenesis/assembly of flagella and the control of flagellar rotation in Ec, Salmonella typhimurium (St) and Bacillus subtilis (Bs). Certain members of this family are also involved in the export of virulence factors in Yersinia (Yr) spp., St and Shigella flexneri (Sf). We have named these six ORFs fliM', fliY, fliP, fliQ, fliR and flhB'. The operon containing these ORFs has been designated as the fla operon. We hypothesize that the protein products of these genes are involved in the biogenesis/assembly of flagella and the control of flagellar rotation in Tp. PMID:8529894

  18. Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer

    Science.gov (United States)

    Shrading, Nicholas J.

    2012-01-01

    The KSC Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20+ years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in. the system, As part.of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display ofthe entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledgebase, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

  19. Autonomous Cryogenic Load Operations: Knowledge-Based Autonomous Test Engineer

    Science.gov (United States)

    Schrading, J. Nicolas

    2013-01-01

    The Knowledge-Based Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20 years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in the system. As part of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display of the entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledge base, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

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

    Science.gov (United States)

    Chelaru, Teodor-Viorel; Chelaru, Adrian

    2014-12-01

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    Chelaru, Teodor-Viorel, E-mail: teodor.chelaru@upb.ro [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: achelaru@incas.ro [INCAS -National Institute for Aerospace Research Elie Carafoli, B-dul Iuliu Maniu 220, 061126, Sector 6, Bucharest (Romania)

    2014-12-10

    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.

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

    International Nuclear Information System (INIS)

    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

  3. "Fly me to the moon"

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    @@ 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.

  4. 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....

  5. Software of the MIKAM-1 autonomous crate controller

    International Nuclear Information System (INIS)

    The resident software of the MIKAM-1 autonomous microprocessor crate controller is presented. The programming system is situated in a reprogramming constant storage device of the controller and may be used in an autonomous regime without complementary storage block. The system includes the monitor of interrupt service routine and the CAMAC service routines. The register formats and digit place purpose are pointed out. The list of address commands to internal controller registers is presented. The usage of given procedures is very convenient and reduces the user program size but the CAMAC operation time significantly increases due to their universality. The software may be also used in other microcomputers on the base of the Intel-8080 and Zilog-80 microprocessors

  6. Autonomic Management for Multi-agent Systems

    OpenAIRE

    Nadir kamal Salih; G. K. Viju; Mohamed, Abdelmotalib A.

    2011-01-01

    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, socialit...

  7. Gastrointestinal autonomic nerve tumor of the stomach

    OpenAIRE

    Meshikhes, Abdul-Wahed N.; Al-Garni, Ayed A.; Sami A Al-Momen; Al-Nahawi, Mamdouh; Abu Subaih, Jawad

    2014-01-01

    Patient: Female, 32 Final Diagnosis: Gastrintestinal Autonomic Nerve Tumor (GANT) Symptoms: anemia • anorexia • fatigue • fever • hearburn • nausea • weight loss Medication: — Clinical Procedure: — Specialty: Gastroenterology and Hepatology Objective: Rare disease Background: Gastrointestinal autonomic nerve tumors (GANT) are extremely rare tumors that are related to gastrointestinal autonomic nervous plexuses. They are distinguished from stromal tumors by their unique ultrastructural feature...

  8. Test and Evaluation of Autonomous Ground Vehicles

    OpenAIRE

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

    2014-01-01

    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...

  9. Obstacle Detection and Avoidance Autonomous Car

    OpenAIRE

    K.Vasavi; M.V.S.Praveen

    2014-01-01

    Driving models are needed by many researchers to improve traffic safety and to advance autonomous vehicle design. To be most useful, a driving model must state specifically what information is needed and how it is processed. So we developed an “Obstacle Avoidance and Detection Autonomous Car” based on sensor application. The essential part of this autonomous car is that it drives taking the energy from solar panel. This paper explains the method of interfacing the solar panel, relay circuit b...

  10. Tele/Autonomous Robot For Nuclear Facilities

    Science.gov (United States)

    Backes, Paul G.; Tso, Kam S.

    1994-01-01

    Fail-safe tele/autonomous robotic system makes it unnecessary for human technicians to enter nuclear-fuel-reprocessing facilities and other high-radiation or otherwise hazardous industrial environments. Used to carry out experiments as exchanging equipment modules, turning bolts, cleaning surfaces, and grappling turning objects by use of mixture of autonomous actions and teleoperation with either single arm or two cooperating arms. System capable of fully autonomous operation, teleoperation or shared control.

  11. Self-Adapting Reactive Autonomous Agents

    Science.gov (United States)

    Andrecut, M.; Ali, M. K.

    This paper describes a new self-adapting control algorithm for reactive autonomous agents. The architecture of the autonomous agents integrates the reactive behavior with reinforcement learning. We show how these components perform on-line adaptation of the autonomous agents to various complex navigation situations by constructing an internal model of the environment. Also, a discussion on cooperation and coordination of teams of agents is presented.

  12. Autonomous vehicle control systems for safe crossroads

    OpenAIRE

    Alonso Ruiz, Javier; Milanés Montero, Vicente; Pérez, Joshué; Onieva Caracuel, Enrique; González Fernández-Vallejo, Carlos; Pedro Lucio, María Teresa de

    2011-01-01

    This article presents a cooperative manoeuvre among three dual mode cars – vehicles equipped with sensors and actuators, and that can be driven either manually or autonomously. One vehicle is driven autonomously and the other two are driven manually. The main objective is to test two decision algorithms for priority conflict resolution at intersections so that a vehicle autonomously driven can take their own decision about crossing an intersection mingling with manually driven cars without th...

  13. GROVER: An autonomous vehicle for ice sheet research

    Science.gov (United States)

    Trisca, G. O.; Robertson, M. E.; Marshall, H.; Koenig, L.; Comberiate, M. A.

    2013-12-01

    The Goddard Remotely Operated Vehicle for Exploration and Research or Greenland Rover (GROVER) is a science enabling autonomous robot specifically designed to carry a low-power, large bandwidth radar for snow accumulation mapping over the Greenland Ice Sheet. This new and evolving technology enables reduced cost and increased safety for polar research. GROVER was field tested at Summit, Greenland in May 2013. The robot traveled over 30 km and was controlled both by line of sight wireless and completely autonomously with commands and telemetry via the Iridium Satellite Network, from Summit as well as remotely from Boise, Idaho. Here we describe GROVER's unique abilities and design. The software stack features a modular design that can be adapted for any application that requires autonomous behavior, reliable communications using different technologies and low level control of peripherals. The modules are built to communicate using the publisher-subscriber design pattern to maximize data-reuse and allow for graceful failures at the software level, along with the ability to be loaded or unloaded on-the-fly, enabling the software to adopt different behaviors based on power constraints or specific processing needs. These modules can also be loaded or unloaded remotely for servicing and telemetry can be configured to contain any kind of information being generated by the sensors or scientific instruments. The hardware design protects the electronic components and the control system can change functional parameters based on sensor input. Power failure modes built into the hardware prevent the vehicle from running out of energy permanently by monitoring voltage levels and triggering software reboots when the levels match pre-established conditions. This guarantees that the control software will be operational as soon as there is enough charge to sustain it, giving the vehicle increased longevity in case of a temporary power loss. GROVER demonstrates that autonomous rovers

  14. House fly oviposition inhibition by larvae ofHermetia illucens, the black soldier fly.

    Science.gov (United States)

    Bradley, S W; Sheppard, D C

    1984-06-01

    Wild populations of house flies were inhibited from ovipositing into poultry manure containing larvae of the black soldier fly,Hermetia illucens (L.). A laboratory strain of house fly responded differently, readily ovipositing into manure with lower densities of soldier fly larvae, but avoiding the higher densities tested. The amount of timeH. illucens larvae occupy the manure prior to an oviposition test influences ovipositional responses of house flies. Manure conditioned byH. illucens larvae for 4-5 days did not significantly inhibit house fly oviposition. We suggest that some type of interspecific chemical communication (allomone) is present. PMID:24318779

  15. Information for Successful Interaction with Autonomous Systems

    Science.gov (United States)

    Malin, Jane T.; Johnson, Kathy A.

    2003-01-01

    Interaction in heterogeneous mission operations teams is not well matched to classical models of coordination with autonomous systems. We describe methods of loose coordination and information management in mission operations. We describe an information agent and information management tool suite for managing information from many sources, including autonomous agents. We present an integrated model of levels of complexity of agent and human behavior, which shows types of information processing and points of potential error in agent activities. We discuss the types of information needed for diagnosing problems and planning interactions with an autonomous system. We discuss types of coordination for which designs are needed for autonomous system functions.

  16. Autonomic dysfunction in primary sleep disorders.

    Science.gov (United States)

    Miglis, Mitchell G

    2016-03-01

    The autonomic nervous system plays an important role in the coordination of many important physiologic functions during sleep. Many patients with untreated sleep disorders will describe symptoms of autonomic impairment, and a majority of patients with autonomic impairment have some form of sleep disorder. This article will explore possible explanations for this connection, as well as review the current literature on autonomic impairment in common primary sleep disorders including obstructive sleep apnea, insomnia, restless legs syndrome, periodic limb movement disorder, narcolepsy, and rapid eye movement sleep behavior disorder. PMID:27198946

  17. Design of a Miniature Autonomous Surveillance Robot

    Institute of Scientific and Technical Information of China (English)

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

    2009-01-01

    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.

  18. Identifying glass compositions in fly ash

    Science.gov (United States)

    Aughenbaugh, Katherine; Stutzman, Paul; Juenger, Maria

    2016-01-01

    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.

  19. Identifying glass compositions in fly ash

    Directory of Open Access Journals (Sweden)

    Katherine eAughenbaugh

    2016-01-01

    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.

  20. A necessary and sufficient condition for transforming autonomous systems into linear autonomous Birkhoffian systems

    International Nuclear Information System (INIS)

    The problem of transforming autonomous systems into Birkhoffian systems is studied. A reasonable form of linear autonomous Birkhoff equations is given. By combining them with the undetermined tensor method, a necessary and sufficient condition for an autonomous system to have a representation in terms of linear autonomous Birkhoff equations is obtained. The methods of constructing Birkhoffian dynamical functions are given. Two examples are given to illustrate the application of the results. (electromagnetism, optics, acoustics, heat transfer, classical mechanics, and fluid dynamics)

  1. Autonomic Function in Neurodegenerative Diseases

    DEFF Research Database (Denmark)

    Sørensen, Gertrud Laura; Jennum, Poul Jørgen

    2013-01-01

    and REM sleep control, indicating that the disorder may serve as a human model for the sleep-wake and REM sleep flip-flop switches. The increased frequency of transitions may cause increased sympathetic activity during sleep and thereby increased heart rate, or the increased heart rate could be caused...... confirm that hypocretin deficiency affects the autonomic nervous system of patients with narcolepsy and that the hypocretin system is important for proper heart rate modulation at rest.Furthermore, it was shown that hypocretin deficiency and cataplexy are associated with signs of destabilized sleep-wake...

  2. Autonomous sensor manager agents (ASMA)

    Science.gov (United States)

    Osadciw, Lisa A.

    2004-04-01

    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.

  3. Konstruktion av en autonom vindstation

    OpenAIRE

    Larsson, Joel; Starck, Patrik

    2015-01-01

    Construction of an autonomous wind station was a project with the goal of creating a product that could collect wind data from a sensor and then transfer this data to a server wirelessly over the GSM network. The device would be powered by batteries and solar cells and function fully without requiring external power supply. This required that a small computer was constructed and programmed to store and send data at predetermined cycle times and programming of a server that received the sent d...

  4. BART: The Czech Autonomous Observatory

    Czech Academy of Sciences Publication Activity Database

    Nekola, Martin; Hudec, René; Jelínek, M.; Kubánek, P.; Štrobl, Jan; Polášek, Cyril

    2010-01-01

    Roč. 2010, Spec. Is. (2010), 103986/1-103986/5. ISSN 1687-7969. [Workshop on Robotic Autonomous Observatories. Málaga, 18.05.2009-21.05.2009] R&D Projects: GA ČR GA205/08/1207 Grant ostatní: ESA(XE) ESA-PECS project No. 98023; Spanish Ministry of Education and Science(ES) AP2003-1407 Institutional research plan: CEZ:AV0Z10030501 Keywords : robotic telescope * BART * gamma ray bursts Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics http://www.hindawi.com/journals/aa/2010/103986.html

  5. Knowledge acquisition for autonomous systems

    Science.gov (United States)

    Lum, Henry; Heer, Ewald

    1988-01-01

    Knowledge-based capabilities for autonomous aerospace systems, such as the NASA Space Station, must encompass conflict-resolution functions comparable to those of human operators, with all elements of the system working toward system goals in a concurrent, asynchronous-but-coordinated fashion. Knowledge extracted from a design database will support robotic systems by furnishing geometric, structural, and causal descriptions required for repair, disassembly, and assembly. The factual knowledge for these databases will be obtained from a master database through a technical management information system, and it will in many cases have to be augmented by domain-specific heuristic knowledge acquired from domain experts.

  6. Topological entropy of autonomous flows

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-06-01

    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.

  7. The Autonomous Pathogen Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Dzenitis, J M; Makarewicz, A J

    2009-01-13

    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

    Science.gov (United States)

    Plattsmier, George; Stetson, Howard

    2014-01-01

    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. Fuzzy control of autonomous robot

    International Nuclear Information System (INIS)

    An autonomous robot which can move and find its own route to a destination by means of fuzzy control is under development. An AI technique is utilized to determine the route to a destination from geographical information gathered through an ITV camera mounted on the robot. Information on robot location is also gained through an ITV camera, and, by applying fuzzy inference operation, the robot's movement is controlled. This paper describes the methods that are used for finding a route and controlling movement. Effectiveness of the proposed methods has been confirmed through actual robot movement tests and through computer simulations. (author)

  10. Autonomous Dome for Robotic Telescope

    CERN Document Server

    Kumar, Akash; Ganesh, Shashikiran

    2016-01-01

    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.

  11. FLY: MPI-2 High Resolution code for LSS Cosmological Simulations

    CERN Document Server

    Becciani, U; Comparato, M

    2007-01-01

    Cosmological simulations of structures and galaxies formations have played a fundamental role in the study of the origin, formation and evolution of the Universe. These studies improved enormously with the use of supercomputers and parallel systems and, recently, grid based systems and Linux clusters. Now we present the new version of the tree N-body parallel code FLY that runs on a PC Linux Cluster using the one side communication paradigm MPI-2 and we show the performances obtained. FLY is included in the Computer Physics Communication Program Library. This new version was developed using the Linux Cluster of CINECA, an IBM Cluster with 1024 Intel Xeon Pentium IV 3.0 Ghz. The results show that it is possible to run a 64 Million particle simulation in less than 15 minutes for each timestep, and the code scalability with the number of processors is achieved. This lead us to propose FLY as a code to run very large N-Body simulations with more than $10^{9}$ particles with the higher resolution of a pure tree co...

  12. Cryogenic Thermal Design Of Small Electromagnetic Formation Flight Satellites

    OpenAIRE

    Kwon, Daniel

    2008-01-01

    Electromagnetic Formation Flight (EMFF) is a novel propellantless propulsion technology for formation flying satellites. Actuation in relative degrees of freedom for formation flight satellites is provided using electromagnetic forces and reaction wheels. One application for EMFF is stationkeeping for fractionated spacecraft architectures. The benefit of EMFF is that by replacing thrusters for formation flying actuation, a system is no longer reliant on consumables. Since the amount of fuel o...

  13. Possibilities of utilizing power plant fly ashes

    Directory of Open Access Journals (Sweden)

    Mezencevová Andrea

    2003-09-01

    Full Text Available The burning of fossil fuels in industrial power stations plays a significant role in the production of thermal and electrical energy. Modern thermal power plants are producing large amounts of solid waste, mainly fly ashes. The disposal of power plant waste is a large environmental problem at the present time. In this paper, possibilities of utilization of power plant fly ashes in industry, especially in civil engineering, are presented. The fly ash is a heterogeneous material with various physical, chemical and mineralogical properties, depending on the mineralogical composition of burned coal and on the used combustion technology. The utilization of fly ashes is determined of their properties. The fineness, specific surface area, particle shape, density, hardness, freeze-thaw resistance, etc. are decisive. The building trade is a branch of industry, which employs fly ash in large quantities for several decades.The best utilization of fluid fly ashes is mainly in the production of cement and concrete, due to the excellent pozzolanic and cementitious properties of this waste. In the concrete processing, the fly ash is utilized as a replacement of the fine aggregate (fine filler or a partial replacement for cement (active admixture. In addition to economic and ecological benefits, the use of fly ash in concrete improves its workability and durability, increases compressive and flexural strength, reduces segregation, bleeding, shrinkage, heat evolution and permeability and enhances sulfate resistance of concrete.The aim of current research is to search for new technologies for the fly ash utilization. The very interesting are biotechnological methods to recovery useful components of fly ashes and unconventional methods of modification of fly ash properties such as hydrothermal zeolitization and mechanochemical modification of its properties. Mechanochemistry deals with physico - chemical transformations and chemical reactions of solids induced by

  14. Composites Based on Fly Ash and Clay

    International Nuclear Information System (INIS)

    Fly ash is a waste generated from the coal combustion during the production of electricity in the thermal power plants. It presents industrial by-product containing Technologically Enhanced Natural Occurring Radioactive Materials (TENORM) with the great potential for valorisation. Fly ash is successfully utilized in cement and concrete industry, also in ceramics industry as component for manufacturing bricks and tiles, and recently there are many investigations for production of glass-ceramics from fly ash. Although the utilization of fly ash in construction and civil engineering is dominant, the development of new alternative application for its further exploitation into new products is needed. This work presents the possibility for fly ash utilization for fabricating dense composites based on clay and fly ash with the potential to be used in construction industry

  15. Effect of fly ash on autogenous shrinkage

    Energy Technology Data Exchange (ETDEWEB)

    Pipat Termkhajornkit; Toyoharu Nawa; Masashi Nakai; Toshiki Saito [Hokkaido University, Hokkaido (Japan). Division of Structural and Geotechnical Engineering, Graduate School of Engineering

    2005-03-01

    The correlation between autogenous shrinkage and degree of hydration of fly ash was determined with the selective dissolution method. Then, the relationship between the degree of hydration of fly ash and autogenous shrinkage was examined. The results showed that the degree of hydration of fly ash increased as its Blaine surface area increased. The degree of hydration of fly ash increased with time, and autogenous shrinkage increased corresponding to the increase in the degree of hydration of fly ash. Moreover, it was found that the total quantity of Al{sub 2}O{sub 3} in cement-fly ash samples affected autogenous shrinkage at early ages, but the long-term influence was very small.

  16. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja

    2012-07-01

    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.

  17. Multi-agent autonomous system

    Science.gov (United States)

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

    2010-01-01

    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.

  18. Autonomous Robotic Inspection in Tunnels

    Science.gov (United States)

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

    2016-06-01

    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.

  19. Structured control for autonomous robots

    International Nuclear Information System (INIS)

    To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and occupational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs facilitate modular and evolutionary system development: they are used to integrate and coordinate planning, perception, and execution, and to incrementally improve the efficiency and robustness of the robot systems. To date, TCA has been used in implementing a half-dozen mobile robot systems, including an autonomous six-legged rover and indoor mobile manipulator

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

    OpenAIRE

    González de Rueda Ramos, José Manuel

    2012-01-01

    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...

  1. The eradication of the Mexico killing fly

    International Nuclear Information System (INIS)

    In Mexico an industrial facility produces millions of sterile flies. These flies are then released in the wild to eliminate the 'Cochliomyia hominivorax' flu species whose larvae generate large sanitary and economical damage. The flies are made sterile through gamma irradiation at the cocoon stage. Containers filled with 40.000 cocoons are exposed to Cs137 gamma radiation doses of 55 Gy, the irradiation session lasts 2 minutes and a half. After the cocoons undergo strict quality control they are deposited in natural places. The irradiation generates cell damages in semen and ovaries while preserving the capacity of copulating and the lifetime of the flies. (A.C.)

  2. Flying qualities and flight control system design for a fly-by-wire transport aircraft

    OpenAIRE

    Gautrey, Jim

    1998-01-01

    Fly-by-wire flight control systems are becoming more common in both civil and military aircraft. These systems give many benefits, but also present a new set of problems due to their increased complexity compared to conventional systems and the larger choice of options that they provide. The work presented here considers the application of fly-by-wire to a generic regional transport aircraft. The flying qualities criteria used for typical flying qualities evaluations are described...

  3. FlyBase: a Drosophila database. The FlyBase consortium.

    OpenAIRE

    Gelbart, W. M.; Crosby, M.; Matthews, B; Rindone, W P; Chillemi, J; Russo Twombly, S; Emmert, D.; Ashburner, M; Drysdale, R A; Whitfield, E; Millburn, G H; Grey, A; Kaufman, T; Matthews, K.; Gilbert, D

    1997-01-01

    FlyBase is a database of genetic and molecular data concerning Drosophila. FlyBase is maintained as a relational database (in Sybase) and is made available as html documents and flat files. The scope of FlyBase includes: genes, alleles (and phenotypes), aberrations, transposons, pointers to sequence data, clones, stock lists, Drosophila workers and bibliographic references. The Encyclopedia of Drosophila is a joint effort between FlyBase and the Berkeley Drosophila Genome Project which integr...

  4. 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

    2007-11-30

    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.

  5. 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

    2013-02-01

    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.

  6. Autonomic Nervous System and Immune System Interactions

    OpenAIRE

    Kenney, MJ; Ganta, CK

    2014-01-01

    The present review assesses the current state of literature defining integrative autonomic-immune physiological processing, focusing on studies that have employed electrophysiological, pharmacological, molecular biological and central nervous system experimental approaches. Central autonomic neural networks are informed of peripheral immune status via numerous communicating pathways, including neural and non-neural. Cytokines and other immune factors affect the level of activity and responsiv...

  7. Autonomous Control of Space Reactor Systems

    International Nuclear Information System (INIS)

    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 available to perform intelligent control functions that are necessary for both normal and abnormal operational conditions

  8. Characteristics of spanish fly ashes

    Directory of Open Access Journals (Sweden)

    de Luxán, M. P.

    1988-03-01

    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.

  9. A Practical Approach to Autonomic Dysfunction in Patients with Headache.

    Science.gov (United States)

    Ailani, Jessica

    2016-05-01

    The presence of autonomic symptoms can make the diagnosis of headache challenging. While commonly seen with the trigeminal autonomic cephalalgias, autonomic dysfunction can also be present in patients with migraine, or with a variety of secondary headaches. The pathophysiology of cranial autonomic symptoms in headache is based between the trigeminal system and the hypothalamus. This article will review the pathophysiology and presence of autonomic dysfunction in headache and will provide techniques to help in headache diagnosis in patients with autonomic dysfunction. PMID:27021770

  10. Autonomous Aerial Sensors for Wind Power Meteorology

    DEFF Research Database (Denmark)

    Giebel, Gregor; la Cour-Harbo, Anders; Bange, Jens;

    2012-01-01

    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...

  11. Fly-by-Wireless Update

    Science.gov (United States)

    Studor, George

    2010-01-01

    The presentation reviews what is meant by the term 'fly-by-wireless', common problems and motivation, provides recent examples, and examines NASA's future and basis for collaboration. The vision is to minimize cables and connectors and increase functionality across the aerospace industry by providing reliable, lower cost, modular, and higher performance alternatives to wired data connectivity to benefit the entire vehicle/program life-cycle. Focus areas are system engineering and integration methods to reduce cables and connectors, vehicle provisions for modularity and accessibility, and a 'tool box' of alternatives to wired connectivity.

  12. Autonomic Management for Multi-agent Systems

    Directory of Open Access Journals (Sweden)

    Nadir kamal Salih

    2011-09-01

    Full Text Available 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 (JADE 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. Autonomic Management for Multi-agent Systems

    CERN Document Server

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

    2011-01-01

    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

  14. Cardiovascular autonomic neuropathy in the diabetic patients.

    Directory of Open Access Journals (Sweden)

    Maria Eugenia Niño Mantilla

    2007-11-01

    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. Autonomic Self-Repairing Glassy Materials

    International Nuclear Information System (INIS)

    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 V2O5 and B2O3, 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)

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

    Energy Technology Data Exchange (ETDEWEB)

    Yue-zhi Sun; Ke-ming Fu; Hong Zhu; Tian-lin Zhu [Jiaozuo Teacher' s College, Jiaozuo (China). Department of Biology and Chemistry

    2009-12-15

    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{sup o}C, and the liquid/solid ratio was controlled at 6:1. In order to control Si/Al molar ratio, SiO{sub 2} or Al{sub 2}O{sub 3} 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/Al 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. 13 refs., 3 figs., 3 tabs.

  17. Autonomous navigation system and method

    Science.gov (United States)

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

    2009-09-08

    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.

  18. Autonomous Spacecraft Navigation With Pulsars

    CERN Document Server

    Becker, Werner; Jessner, Axel

    2013-01-01

    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.

  19. Sleep in trigeminal autonomic cephalagias

    DEFF Research Database (Denmark)

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

    2014-01-01

    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...

  20. Digital autonomous terminal access communications

    Science.gov (United States)

    Novacki, S.

    1987-01-01

    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.

  1. An Autonomous Flight Safety System

    Science.gov (United States)

    Bull, James B.; Lanzi, Raymond J.

    2007-01-01

    The Autonomous Flight Safety System (AFSS) being developed by NASA s Goddard Space Flight Center s Wallops Flight Facility and Kennedy Space Center has completed two successful developmental flights and is preparing for a third. AFSS has been demonstrated to be a viable architecture for implementation of a completely vehicle based system capable of protecting life and property in event of an errant vehicle by terminating the flight or initiating other actions. It is capable of replacing current human-in-the-loop systems or acting in parallel with them. AFSS is configured prior to flight in accordance with a specific rule set agreed upon by the range safety authority and the user to protect the public and assure mission success. This paper discusses the motivation for the project, describes the method of development, and presents an overview of the evolving architecture and the current status.

  2. Testbed for an autonomous system

    Science.gov (United States)

    Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok K.; Larsen, Ronald L.

    1989-01-01

    In previous works we have defined a general architectural model for autonomous systems, which can easily be mapped to describe the functions of any automated system (SDAG-86-01), and we illustrated that model by applying it to the thermal management system of a space station (SDAG-87-01). In this note, we will further develop that application and design the detail of the implementation of such a model. First we present the environment of our application by describing the thermal management problem and an abstraction, which was called TESTBED, that includes a specific function for each module in the architecture, and the nature of the interfaces between each pair of blocks.

  3. Autonomous Infrastructure for Observatory Operations

    Science.gov (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?

  4. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

    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.

  5. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

    ; 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......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...

  6. 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

    2002-02-14

    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.

  7. Wireless autonomous device data transmission

    Science.gov (United States)

    Sammel, Jr., David W. (Inventor); Cain, James T. (Inventor); Mickle, Marlin H. (Inventor); Mi, Minhong (Inventor)

    2013-01-01

    A method of communicating information from a wireless autonomous device (WAD) to a base station. The WAD has a data element having a predetermined profile having a total number of sequenced possible data element combinations. The method includes receiving at the WAD an RF profile transmitted by the base station that includes a triggering portion having a number of pulses, wherein the number is at least equal to the total number of possible data element combinations. The method further includes keeping a count of received pulses and wirelessly transmitting a piece of data, preferably one bit, to the base station when the count reaches a value equal to the stored data element's particular number in the sequence. Finally, the method includes receiving the piece of data at the base station and using the receipt thereof to determine which of the possible data element combinations the stored data element is.

  8. MODAL CONTROL OF PILOTLESS FLYING MACHINE

    OpenAIRE

    V. A. Antanevich; Y. F. Ikwas; А. A. Lobaty

    2014-01-01

    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.

  9. Horn fly, Haematobia irritans irritans L., overwintering

    Science.gov (United States)

    Putative diapause in the horn fly, Haematobia irritans irritans (L.), has frequently been assumed as the pest's mode for overwinter survival from the tropics to temperate regions of northern and southern hemispheres. Examination of the scientific literature indicates that putative horn fly diapause ...

  10. Catch Composition of Tsetse Flies (Glossina: Glossinidae

    Directory of Open Access Journals (Sweden)

    K. E. Okoh

    2011-01-01

    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.

  11. Neoplasms identified in free-flying birds

    Science.gov (United States)

    Siegfried, L.M.

    1983-01-01

    Nine neoplasms were identified in carcasses of free-flying wild birds received at the National Wildlife Health Laboratory; gross and microscopic descriptions are reported herein. The prevalence of neoplasia in captive and free-flying birds is discussed, and lesions in the present cases are compared with those previously described in mammals and birds.

  12. Formative (self-)assessment as autonomous language learning

    OpenAIRE

    Cooker, Lucy

    2012-01-01

    While learner autonomy is often lauded as an important goal in language education, applied linguists have debated if it is a construct that has been given proper attention in terms of definition and assessment. In order to address this debate the researcher implemented a two-phase study within the context of higher education. Theories of learner autonomy, sustainable assessment and transformative learning guided the study design. In the research design, the nexus between language learner a...

  13. Current challenges in autonomous vehicle development

    Science.gov (United States)

    Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

    2006-05-01

    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.

  14. Cardiovascular autonomic dysfunctions and sleep disorders.

    Science.gov (United States)

    Calandra-Buonaura, Giovanna; Provini, Federica; Guaraldi, Pietro; Plazzi, Giuseppe; Cortelli, Pietro

    2016-04-01

    Animal and human studies have shown that disorders of the autonomic nervous system may influence sleep physiology. Conversely, sleep disorders may be associated with autonomic dysfunctions. The current review describes the clinical presentation, supposed pathogenetic mechanisms and the diagnostic and prognostic implications of impaired cardiovascular autonomic control in sleep disorders. This dysfunction may result from a common pathogenetic mechanism affecting both autonomic cardiovascular control and sleep, as in fatal familial insomnia, or it may be mainly caused by the sleep disorder, as observed in obstructive sleep apnoea. For other sleep disorders, like primary insomnia, restless legs syndrome, narcolepsy type 1 and rapid eye movement sleep behaviour disorder, the causal link with the autonomic dysfunction and its possible impact on health remains unsettled. Given its clinical implications, most of the data available suggest that a systematic assessment of the association between sleep disorders and impaired autonomic control of the cardiovascular system is warranted. Understanding the mechanism of this association may also yield insights into the interaction between the autonomic nervous system and sleep. PMID:26146026

  15. ACAA fly ash basics: quick reference card

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2006-07-01

    Fly ash is a fine powdery material created when coal is burned to generate electricity. Before escaping into the environment via the utility stacks, the ash is collected and may be stored for beneficial uses or disposed of, if necessary. The use of fly ash provides environmental benefits, such as the conservation of natural resources, the reduction of greenhouse gas emissions and eliminating the needed for ash disposal in landfills. It is also a valuable mineral resource that is used in construction and manufacturing. Fly ash is used in the production of Portland cement, concrete, mortars and stuccos, manufactured aggregates along with various agricultural applications. As mineral filler, fly ash can be used for paints, shingles, carpet backing, plastics, metal castings and other purposes. This quick reference card is intended to provide the reader basic source, identification and composition, information specifically related to fly ash.

  16. Construction procedures using self hardening fly ash

    Science.gov (United States)

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

    1980-07-01

    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.

  17. FLEXURAL BEHAVIOUR OF ACTIVATED FLY ASH CONCRETE

    Directory of Open Access Journals (Sweden)

    SUNILAA GEORGE

    2011-10-01

    Full Text Available Cement concrete is the most widely used construction material in many infrastructure projects. The development and use of mineral admixture for cement replacement is growing in construction industry mainly due to the consideration of cost saving, energy saving, environmental production and conservation of resources. Present study is aimed at replacing cement in concrete with activated fly ash. The paper highlights the chemical activation of low calcium fly ash using CaO and Na2SiO3 in the ratio 1:8 for improving the pozzolanic properties of fly ash .The investigation deals with the flexural behavior of beams using chemically activated fly ash at various cement replacement levels of 10%, 20%, 30%, 40%, 50%, and 60% with water cement ratio 0.45.The results are compared with OPC and Activated Fly ash at the same replacement levels.

  18. Surface Modification of Fly Ash for Active Catalysis

    OpenAIRE

    Deepti Jain; Renu Hada; Ashu Rani

    2013-01-01

    Fly ash based effective solid base catalyst (KF/Al2O3/fly ash473, KF/Al2O3/fly ash673, and KF/Al2O3/fly ash873) was synthesized by loading KF over chemically and thermally activated fly ash. The chemical activation was done by treating fly ash with aluminum nitrate via precipitation method followed by thermal activation at 650°C to increase the alumina content in fly ash. The increased alumina content was confirmed by SEM-EDX analysis. The alumina enriched fly ash was then loaded with KF (10...

  19. A high speed telemetry data link for an autonomous roving vehicle

    Science.gov (United States)

    Cipolle, D. J.

    1980-01-01

    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.

  20. Social support of elderly people in Khanty-Mansi autonomous district – Yugra

    Directory of Open Access Journals (Sweden)

    Komleva E. R.

    2012-03-01

    Full Text Available The article deals with the results of the research conducted with the aim of analysis and generalization of practical experience of substitute family formation for elderly people in social service organizations in Khanty-Mansi autonomous district – Yugra.

  1. Effect of temperature on the hydration of Portland cement blended with siliceous fly ash

    International Nuclear Information System (INIS)

    The effect of temperature on the hydration of Portland cement pastes blended with 50 wt.% of siliceous fly ash is investigated within a temperature range of 7 to 80 °C. The elevation of temperature accelerates both the hydration of OPC and fly ash. Due to the enhanced pozzolanic reaction of the fly ash, the change of the composition of the C–S–H and the pore solution towards lower Ca and higher Al and Si concentrations is shifted towards earlier hydration times. Above 50 °C, the reaction of fly ash also contributes to the formation of siliceous hydrogarnet. At 80 °C, ettringite and AFm are destabilised and the released sulphate is partially incorporated into the C–S–H. The observed changes of the phase assemblage in dependence of the temperature are confirmed by thermodynamic modelling. The increasingly heterogeneous microstructure at elevated temperatures shows an increased density of the C–S–H and a higher coarse porosity. -- Highlights: •The reaction of quartz powder at 80 °C strongly enhances the compressive strength. •Almost no strength increase of fly ash blended OPC at 80 °C was found after 2 days. •Siliceous hydrogarnet is formed upon the reaction of fly ash at high temperatures. •Temperature dependent change of the system was simulated by thermodynamic modelling. •Destabilisation of ettringite above 50 °C correlates with sulphate content of C–S–H

  2. Effect of temperature on the hydration of Portland cement blended with siliceous fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Deschner, Florian, E-mail: florian.deschner@gmail.com [Empa, Swiss Federal Laboratories for Materials Science and Technology, Laboratory for Concrete and Construction Chemistry, Überlandstrasse 129, 8600 Dübendorf (Switzerland); Lothenbach, Barbara; Winnefeld, Frank [Empa, Swiss Federal Laboratories for Materials Science and Technology, Laboratory for Concrete and Construction Chemistry, Überlandstrasse 129, 8600 Dübendorf (Switzerland); Neubauer, Jürgen [GeoZentrum Nordbayern, Mineralogy, University of Erlangen-Nuremberg, 91054 Erlangen (Germany)

    2013-10-15

    The effect of temperature on the hydration of Portland cement pastes blended with 50 wt.% of siliceous fly ash is investigated within a temperature range of 7 to 80 °C. The elevation of temperature accelerates both the hydration of OPC and fly ash. Due to the enhanced pozzolanic reaction of the fly ash, the change of the composition of the C–S–H and the pore solution towards lower Ca and higher Al and Si concentrations is shifted towards earlier hydration times. Above 50 °C, the reaction of fly ash also contributes to the formation of siliceous hydrogarnet. At 80 °C, ettringite and AFm are destabilised and the released sulphate is partially incorporated into the C–S–H. The observed changes of the phase assemblage in dependence of the temperature are confirmed by thermodynamic modelling. The increasingly heterogeneous microstructure at elevated temperatures shows an increased density of the C–S–H and a higher coarse porosity. -- Highlights: •The reaction of quartz powder at 80 °C strongly enhances the compressive strength. •Almost no strength increase of fly ash blended OPC at 80 °C was found after 2 days. •Siliceous hydrogarnet is formed upon the reaction of fly ash at high temperatures. •Temperature dependent change of the system was simulated by thermodynamic modelling. •Destabilisation of ettringite above 50 °C correlates with sulphate content of C–S–H.

  3. 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

    2011-01-01

    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.

  4. Autonomous underwater pipeline monitoring navigation system

    Science.gov (United States)

    Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

    2014-06-01

    This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

  5. Autonomous Demand Response for Primary Frequency Regulation

    Energy Technology Data Exchange (ETDEWEB)

    Donnelly, Matt; Trudnowski, Daniel J.; Mattix, S.; Dagle, Jeffery E.

    2012-02-28

    The research documented within this report examines the use of autonomous demand response to provide primary frequency response in an interconnected power grid. The work builds on previous studies in several key areas: it uses a large realistic model (i.e., the interconnection of the western United States and Canada); it establishes a set of metrics that can be used to assess the effectiveness of autonomous demand response; and it independently adjusts various parameters associated with using autonomous demand response to assess effectiveness and to examine possible threats or vulnerabilities associated with the technology.

  6. Autonomous Bicycle: The First Self Balanced Ride

    OpenAIRE

    Ånnestad, Dag Christian

    2011-01-01

    The idea of an autonomous bicycle originates from Jens G. Balchen who wanted to make an unmanned autonomous bicycle. The idea was picked up by Amund Skavhaug who extended the idea with the concept of using an inverted pendulum to simulate a leaning rider. The previous attempts to develop a bicycle capable of performing an autonomous ride has so far all ended in failure. The main reason for the Department of Engineering Cybernetics is to develop such a bicycle is for use in recruitment and mot...

  7. FOXO1 is a direct target of EWS-Fli1 oncogenic fusion protein in Ewing's sarcoma cells

    International Nuclear Information System (INIS)

    Research highlights: → Inducible and reversible siRNA knockdown of an oncogenic fusion protein such as EWS-Fli1 is feasible and more advantageous than other siRNA methods. → The tumor suppressor gene FOXO1 is a new EWS-Fli1 target. → While trans-activators are known for the FOXO1 gene, there has been no report on negative regulators of FOXO1 transcription. → This study provides first evidence that the EWS-Fli1 oncogenic fusion protein can function as a transcriptional repressor of the FOXO1 gene. -- Abstract: Ewing's family tumors are characterized by a specific t(11;22) chromosomal translocation that results in the formation of EWS-Fli1 oncogenic fusion protein. To investigate the effects of EWS-Fli1 on gene expression, we carried out DNA microarray analysis after specific knockdown of EWS-Fli1 through transfection of synthetic siRNAs. EWS-Fli1 knockdown increased expression of genes such as DKK1 and p57 that are known to be repressed by EWS-Fli1 fusion protein. Among other potential EWS-Fli1 targets identified by our microarray analysis, we have focused on the FOXO1 gene since it encodes a potential tumor suppressor and has not been previously reported in Ewing's cells. To better understand how EWS-Fli1 affects FOXO1 expression, we have established a doxycycline-inducible siRNA system to achieve stable and reversible knockdown of EWS-Fli1 in Ewing's sarcoma cells. Here we show that FOXO1 expression in Ewing's cells has an inverse relationship with EWS-Fli1 protein level, and FOXO1 promoter activity is increased after doxycycline-induced EWS-Fli1 knockdown. In addition, we have found that direct binding of EWS-Fli1 to FOXO1 promoter is attenuated after doxycycline-induced siRNA knockdown of the fusion protein. Together, these results suggest that suppression of FOXO1 function by EWS-Fli1 fusion protein may contribute to cellular transformation in Ewing's family tumors.

  8. 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)

    2003-02-01

    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.

  9. Roles of semiochemicals in mating systems: A comparison between Oriental fruit fly and Medfly

    International Nuclear Information System (INIS)

    Males of tephritid fruit fly species show strong affinity to specific chemicals produced by plants. Amongst the economically important species in the Asian Pacific area, methyl eugenol acts as a potent attractant for males of the Oriental fruit fly, Bactrocera dorsalis (Hendel), and several other species within the dorsalis species complex (e.g., B. papayae Drew and Hancock, B. carambolae Drew and Hancock, etc.), cuelure [4-(4-acetoxyphenyl)-2-butanone] and the naturally occurring deacetyl derivative (raspberry ketone) act as specific attractants for flies such as the melon fly, B. cucurbitae (Coquillett) and the Queensland fruit fly, B. tryoni (Froggatt) (Metcalf 1990). These attractants have been successfully used as baits in mass trapping for monitoring populations during eradication programmes for these pests (Chambers 1977, Koyama et al. 1984). Likewise, trimedlure has been developed as a synthetic attractant for males of the Mediterranean fruit fly (Medfly), Ceratitis capitata (Wied.), while α-copaene has been known to be a naturally occurring attractant for the species. For most tephritids, however, the biological function of male attraction to these natural or artificial compounds remains unclear. Recent studies (Nishida et al. 1988 1997, Nishida and Fukami 1990, Tan 1993, Tan and Nishida 1996) have shown that males of B. dorsalis and related species ingest these compounds from natural sources, selectively incorporate them into the rectal glands, and use them to synthesise the sex pheromone and allomone. It appears that similar chemical compounds, when ingested, may provide pheromonal precursors in the melon fly as well (Nishida et al. 1993, Shelly and Villalobos 1995). In contrast, Medfly males do not feed on the source of chemical attractant. According to our observations, α-copaene strongly affected the courtship behaviour of the Medfly, which suggests that these natural compounds may possibly be involved in the formation of leks and the mating

  10. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

    Science.gov (United States)

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

    1994-01-01

    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.

  11. Avrocar: a real flying saucer

    CERN Document Server

    Fedrigo, Desire Francine G; Gobato, Alekssander

    2015-01-01

    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.

  12. Fly Photoreceptors Encode Phase Congruency

    Science.gov (United States)

    Friederich, Uwe; Billings, Stephen A.; Hardie, Roger C.; Juusola, Mikko; Coca, Daniel

    2016-01-01

    More than five decades ago it was postulated that sensory neurons detect and selectively enhance behaviourally relevant features of natural signals. Although we now know that sensory neurons are tuned to efficiently encode natural stimuli, until now it was not clear what statistical features of the stimuli they encode and how. Here we reverse-engineer the neural code of Drosophila photoreceptors and show for the first time that photoreceptors exploit nonlinear dynamics to selectively enhance and encode phase-related features of temporal stimuli, such as local phase congruency, which are invariant to changes in illumination and contrast. We demonstrate that to mitigate for the inherent sensitivity to noise of the local phase congruency measure, the nonlinear coding mechanisms of the fly photoreceptors are tuned to suppress random phase signals, which explains why photoreceptor responses to naturalistic stimuli are significantly different from their responses to white noise stimuli. PMID:27336733

  13. Insects as unidentified flying objects.

    Science.gov (United States)

    Callahan, P S; Mankin, R W

    1978-11-01

    Five species of insects were subjected to a large electric field. Each of the insects stimulated in this manner emitted visible glows of various colors and blacklight (uv). It is postulated that the Uintah Basin, Utah, nocturnal UFO display (1965-1968) was partially due to mass swarms of spruce budworms, Choristoneura fumiferana (Clemens), stimulated to emit this type of St. Elmo's fire by flying into high electric fields caused by thunderheads and high density particulate matter in the air. There was excellent time and spatial correlation between the 1965-1968 UFO nocturnal sightings and spruce budworm infestation. It is suggested that a correlation of nocturnal UFO sightings throughout the U.S. and Canada with spruce budworm infestations might give some insight into nocturnal insect flight patterns. PMID:20203984

  14. [Psychoses and unidentified flying objects].

    Science.gov (United States)

    Mavrakis, D; Bocquet, J P

    1983-04-01

    Some individuals claim to have come into contact and communicated with occupants of flying objects of extraterrestrial origin who often would have entrusted them with "missions" regarding the safeguard of humanity. The authors, who have observed six such subjects, conclude that five of them suffered from a paranoid delusional state often akin to paraphrenia; whereas other analogous cases previously reported have been diagnosed as suffering from paranoid schizophrenia. Their beliefs, inaccessible to criticism and to reasoning, presumably help them to remain outside psychiatric reach. The present article does not take an interest in the physical existence of this phenomenon and does not wish to be reductionistic. It does not claim to express a judgment on the witnesses of such phenomena whose mental health must be evaluated through a rigorous and impartial examination, and not be evaluated in terms of the examiner's preconceptions toward the witnesses' assertions. PMID:6850502

  15. A satellite formation flying approach providing both positioning and tracking

    Science.gov (United States)

    Nurge, Mark A.; Youngquist, Robert C.; Starr, Stanley O.

    2016-05-01

    A magnetic field approach is presented whereby a large number of closely located satellites can be positioned and oriented relative to each other, but can also be tracked in six degrees of freedom. This is accomplished by using frequency-multiplexed magnetic fields where coils are placed on each satellite to allow them to generate magnetic fields, to interact with the magnetic fields from other satellites, and to sample the surrounding magnetic fields. By doing this, a satellite can choose which alternating field to push or pull against, to provide torque about, or to sample in order to determine its location and orientation relative to the other satellites. Theory is provided demonstrating the capability of this approach along with its advantages and limitations. An experimental system allowing 3 degrees-of-freedom was constructed and used to demonstrate a feedback and control system where a satellite is told to move to a location and it does this by interacting with the surrounding satellites to both generate forces and torques and to track its position and orientation.

  16. A New Formation Flying/Satellite Swarm Concept Project

    Data.gov (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...

  17. Autonomic Dysfunction in Patients with Mild to Moderate Alzheimer's Disease

    DEFF Research Database (Denmark)

    Jensen-Dahm, Christina; Waldemar, Gunhild; Staehelin Jensen, Troels;

    2015-01-01

    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...

  18. Treatment of fly ash for use in concrete

    Science.gov (United States)

    Boxley, Chett; Akash, Akash; Zhao, Qiang

    2012-05-08

    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.

  19. Treatment of fly ash for use in concrete

    Science.gov (United States)

    Boxley, Chett; Akash, Akash; Zhao, Qiang

    2013-01-08

    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.

  20. Square tracking sensor for autonomous helicopter hover stabilization

    Science.gov (United States)

    Oertel, Carl-Henrik

    1995-06-01

    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.

  1. A Primer on Autonomous Aerial Vehicle Design

    Science.gov (United States)

    Coppejans, Hugo H. G.; Myburgh, Herman C.

    2015-01-01

    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. PMID:26633410

  2. A Primer on Autonomous Aerial Vehicle Design

    Directory of Open Access Journals (Sweden)

    Hugo H. G. Coppejans

    2015-12-01

    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.

  3. A Primer on Autonomous Aerial Vehicle Design.

    Science.gov (United States)

    Coppejans, Hugo H G; Myburgh, Herman C

    2015-01-01

    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. PMID:26633410

  4. Autonomic html interface generator for web applications

    CERN Document Server

    Bassil, Youssef; 10.5121/ijwest.2012.3104

    2012-01-01

    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...

  5. An introduction to autonomous control systems

    Science.gov (United States)

    Antsaklis, Panos J.; Passino, Kevin M.; Wang, S. J.

    1991-01-01

    The functions, characteristics, and benefits of autonomous control are outlined. An autonomous control functional architecture for future space vehicles that incorporates the concepts and characteristics described is presented. The controller is hierarchical, with an execution level (the lowest level), coordination level (middle level), and management and organization level (highest level). The general characteristics of the overall architecture, including those of the three levels, are explained, and an example to illustrate their functions is given. Mathematical models for autonomous systems, including 'logical' discrete event system models, are discussed. An approach to the quantitative, systematic modeling, analysis, and design of autonomous controllers is also discussed. It is a hybrid approach since it uses conventional analysis techniques based on difference and differential equations and new techniques for the analysis of the systems described with a symbolic formalism such as finite automata. Some recent results from the areas of planning and expert systems, machine learning, artificial neural networks, and the area restructurable controls are briefly outlined.

  6. AGATE: Autonomous Go and Touch Exploration Project

    Data.gov (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...

  7. Autonomic symptoms in idiopathic REM behavior disorder

    DEFF Research Database (Denmark)

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

    2014-01-01

    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...... symptoms has never been systematically performed. Patients with polysomnography-confirmed iRBD (318 cases) and controls (137 healthy volunteers and 181 sleep center controls with sleep diagnoses other than RBD) were recruited from 13 neurological centers in 10 countries from 2008 to 2011. A validated scale...... to study the disorders of the autonomic nervous system in Parkinson's disease (PD) patients, the SCOPA-AUT, was administered to all the patients and controls. The SCOPA-AUT consists of 25 items assessing the following domains: gastrointestinal, urinary, cardiovascular, thermoregulatory, pupillomotor...

  8. Autonomic Closure for Large Eddy Simulation

    Science.gov (United States)

    King, Ryan; Hamlington, Peter; Dahm, Werner J. A.

    2015-11-01

    A new autonomic subgrid-scale closure has been developed for large eddy simulation (LES). The approach poses a supervised learning problem that captures nonlinear, nonlocal, and nonequilibrium turbulence effects without specifying a predefined turbulence model. By solving a regularized optimization problem on test filter scale quantities, the autonomic approach identifies a nonparametric function that represents the best local relation between subgrid stresses and resolved state variables. The optimized function is then applied at the grid scale to determine unknown LES subgrid stresses by invoking scale similarity in the inertial range. A priori tests of the autonomic approach on homogeneous isotropic turbulence show that the new approach is amenable to powerful optimization and machine learning methods and is successful for a wide range of filter scales in the inertial range. In these a priori tests, the autonomic closure substantially improves upon the dynamic Smagorinsky model in capturing the instantaneous, statistical, and energy transfer properties of the subgrid stress field.

  9. LEO AUTONOMOUS NAVIGATION BASED ON IMAGE MOTION

    Institute of Scientific and Technical Information of China (English)

    DUANFang; LIUJian-ye; YUFeng

    2005-01-01

    A method of LEO autonomous navigation is presented based on the nonlinear satellite velocity relative to the earth. The velocity is detected by a high-speed camera, with the attitude information detected by a star sensor. Compared with traditional autonomous navigation by landmark identification, the satellite velocity relarive to the earth is obtained by correlativity analysis of images. It does not need to recognize ground objects or views. Since it is not necessary to pre-store the database of ground marks, lots of memory space can be saved.The state and observation equations are constructed, and the filtering is processed by the Kalman filter. Simulation results show that the system has high autonomous navigation precision in LEO autonomous navigation.

  10. Rover: Autonomous concepts for Mars exploration

    Science.gov (United States)

    Baiget, A.; Castets, B.; Chochon, H.; Hayard, M.; Lamarre, H.; Lamothe, A.

    1993-01-01

    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.

  11. Hierarchical multi-level image mosaicing for autonomous navigation of UAV

    Science.gov (United States)

    Park, Sangho; Ghosh, Debabrata; Kaabouch, Naima; Fevig, Ronald A.; Semke, William

    2012-01-01

    A novel algorithm for hierarchical multi-level image mosaicing for autonomous navigation of UAV is proposed. The main contribution of the proposed system is the blocking of the error accumulation propagated along the frames, by incrementally building a long-duration mosaic on the fly which is hierarchically composed of short-duration mosaics. The proposed algorithm fulfills the real-time processing requirements in autonomous navigation as follows. 1) Causality: the current output of the mosaicing system depends only on the current and/or previous input frames, contrary to existing offline mosaic algorithms that depend on future input frames as well. 2) Learnability: the algorithm autonomously analyzes/learns the scene characteristics. 3) Adaptability: the system automatically adapts itself to the scene change and chooses the proper methods for feature selection (i.e., the fast but unreliable LKT vs. the slow but robust SIFT). The evaluation of our algorithm with the extensive field test data involving several thousand airborne images shows the significant improvement in processing time, robustness and accuracy of the proposed algorithm.

  12. The Rosetta Fly-by at Asteroid (2867) Steins

    Science.gov (United States)

    Schulz, R.; Accomazzo, A.; Küppers, M.; Schwehm, G.; Wirth, K.

    2009-05-01

    The International Rosetta Mission is one of ESA's Planetary Cornerstone Missions on its way to rendezvous with comet 67P/Churyumov-Gerasimenko. On route to the comet Rosetta has encountered its first asteroid target, main belt asteroid (2867) Steins. Closest approach occurred on 5 September 2008, 18:38:20 UT at a distance of 802.6 km. The spacecraft passed on the sunlit side of the asteroid with a relative velocity of 8.6 km/s in the plane defined by the relative velocity vector and the Sun direction. This fly-by strategy allowed continuous pointing on the asteroid before, during and after closest approach as well as passing through a phase angle close to zero. The minimum phase angle (0.27°) was reached at 18:36:23, about 2 minutes before closest approach. Optical navigation on the asteroid started already on 4 August 2008 as the spacecraft had to target the small asteroid (effective radius ~ 5 km) within accuracy better than 2 km to keep it in the field of view of the science instruments during closest approach. In addition an attitude flip manoeuvre of 20 minutes duration was performed before autonomous tracking on asteroid (2867) Steins started. Altogether 14 instruments were switched on during the fly-by, providing spatially resolved multi-wavelength observations of the asteroid and in-situ measurements of its dust, plasma, magnetic, and radiation environment. Its detailed characterization will add to the understanding the different types of asteroids and to solving the puzzle of how the solar system formed and evolved. (2867) Steins was Rosetta's first nominal scientific target in its 11.5-year mission. The next scientific encounter is however already in view. In July 2010 Rosetta will fly-by at asteroid (21) Lutetia, a 100 km-sized object (95.5 ± 4.1 km) before moving out to Jupiter's orbit to meet and explore the nucleus of 67P/Churyumov-Gerasimenko.

  13. Kohonen's feature maps for fly ash categorization.

    Science.gov (United States)

    Nataraja, M C; Jayaram, M A; Ravikumar, C N

    2006-12-01

    Fly ash is a common admixture used in concrete and may constitute up to 50% by weight of the total binder material. Incorporation of fly ash in Portland-cement concrete is highly desirable due to technological, economic, and environmental benefits. This article demonstrates the use of artificial intelligence neural networks for the classification of fly ashes in to different groups. Kohonen's Self Organizing Feature Maps is used for the purpose. As chemical composition of fly ash is crucial in the performance of concrete, eight chemical attributes of fly ashes have been considered. The application of simple Kohonen's one-dimensional feature maps permitted to differentiate three main groups of fly ashes. Three one-dimensional feature maps of topology 8-16, 8-24 and 8-32 were explored. The overall classification result of 8-16 topology was found to be significant and encouraging. The data pertaining to 80 fly ash samples were collected from standard published works. The categorization was found to be excellent and compares well with Canadian Standard Association's [CSA A 3000] classification scheme. PMID:17285691

  14. Autonomous intelligent cruise control system

    Science.gov (United States)

    Baret, Marc; Bomer, Thierry T.; Calesse, C.; Dudych, L.; L'Hoist, P.

    1995-01-01

    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.

  15. Autonomic Findings in Takotsubo Cardiomyopathy.

    Science.gov (United States)

    Norcliffe-Kaufmann, Lucy; Kaufmann, Horacio; Martinez, Jose; Katz, Stuart D; Tully, Lisa; Reynolds, Harmony R

    2016-01-15

    Takotsubo cardiomyopathy (TC) often occurs after emotional or physical stress. Norepinephrine levels are unusually high in the acute phase, suggesting a hyperadrenergic mechanism. Comparatively little is known about parasympathetic function in patients with TC. We sought to characterize autonomic function at rest and in response to physical and emotional stimuli in 10 women with a confirmed history of TC and 10 age-matched healthy women. Sympathetic and parasympathetic activity was assessed at rest and during baroreflex stimulation (Valsalva maneuver and tilt testing), cognitive stimulation (Stroop test), and emotional stimulation (event recall, patients). Ambulatory blood pressure monitoring and measurement of brachial artery flow-mediated vasodilation were also performed. TC women (tested an average of 37 months after the event) had excessive pressor responses to cognitive stress (Stroop test: p emotional arousal (recall of TC event: p = 0.03 vs baseline). Pressor responses to hemodynamic stimuli were also amplified (Valsalva overshoot: p <0.05) and prolonged (duration: p <0.01) in the TC women compared with controls. Plasma catecholamine levels did not differ between TC women and controls. Indexes of parasympathetic (vagal) modulation of heart rate induced by respiration and cardiovagal baroreflex gain were significantly decreased in the TC women versus controls. In conclusion, even long after the initial episode, women with previous episode of TC have excessive sympathetic responsiveness and reduced parasympathetic modulation of heart rate. Impaired baroreflex control may therefore play a role in TC. PMID:26743349

  16. Mechanical Autonomous Stochastic Heat Engine

    Science.gov (United States)

    Serra-Garcia, Marc; Foehr, André; Molerón, Miguel; Lydon, Joseph; Chong, Christopher; Daraio, Chiara

    2016-07-01

    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.

  17. Semi-Autonomous Vehicle Project

    Science.gov (United States)

    Stewart, Christopher

    2016-01-01

    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.

  18. Autonomic dysregulation in headache patients.

    Science.gov (United States)

    Gass, Jason J; Glaros, Alan G

    2013-12-01

    To analyze autonomic nervous system activity in headache subjects, measurements of heart rate variability (HRV), skin temperature, skin conductance, and respiration were compared to a matched control group. HRV data were recorded in time and frequency domains. Subjects also completed self-report questionnaires assessing psychological distress, fatigue, and sleep dysfunction. Twenty-one headache and nineteen control subjects participated. In the time domain, the number of consecutive R-to-R intervals that varied by more than 50 ms and the standard deviation of the normalized R-to-R intervals, both indices of parasympathetic nervous system activity, were significantly lower in the headache group than the control group. Groups did not differ statistically on HRV measures in the frequency domain. Self-report measures showed significantly increased somatization, hostility, anxiety, symptom distress, fatigue, and sleep problems in the headache group. The results suggest headache subjects have increased sympathetic nervous system activity and decreased parasympathetic activity compared to non-headache control subjects. Headaches subjects also showed greater emotional distress, fatigue, and sleep problems. The results indicate an association between headaches and cardiovascular functioning suggestive of sympathetic nervous system activation in this sample of mixed migraine and tension-type headache sufferers. PMID:23912525

  19. Autonomous Systems Developments and Trends

    CERN Document Server

    Kyamaky, Kyandoghere; Kacprzyk, Janusz

    2012-01-01

    The Workshops on Autonomous Systems emanated from a gathering with the doctoral students of just three chairs at Fernuniversität in Hagen, which we organise twice per year for a number of years now. Their purpose is to discuss on-going research and to create a community spirit. Furthermore, they serve as a means of structuring the students' research processes. The workshop has grown and matured in several respects. The doctoral students presenting their work do not come from a single university anymore, but from three. Besides them and their supervisors, also other scientists became interested in the event and contribute to its programme. Following the model of Advanced Study Institutes, they are available on the premises for relaxed, informal discussions outside the formal sessions. Finally, with the co-sponsorship of Gesellschaft für Informatik, the German Computer Society, and this surprisingly comprehensive volume of contributions published by Springer-Verlag the workshop turned into a visible scientifi...

  20. Environmental data collection using autonomous Wave Gliders

    OpenAIRE

    Hermsdorfer, Kathryn M.

    2014-01-01

    Approved for public release; distribution is unlimited The Sensor Hosting Autonomous Remote Craft (SHARC), also known as Wave Glider, is an autonomous ocean vehicle powered by wave motion. This slow-moving platform makes long-term deployments and environmental data collection feasible, especially in data sparse regions or hazardous environments. The standard SHARC hosts a meteorological station (Airmar PB200) that samples air pressure, temperature, wind speed and wind direction at 1.12 m. ...

  1. A middleware architecture for autonomic software deployment

    OpenAIRE

    Matougui, Mohamed El Amine; LERICHE, Sébastien

    2012-01-01

    International audience Autonomic software deployment in open networked environments such as mobile and ad hoc networks is an open issue. Some solutions to software deployment exist; but, they are usable only within static topologies of devices. We propose a middleware architecture providing a constraint-based language guiding the deployment process at a high level and an autonomous agent-based system for establishing and maintaining a software deployment according to a deployment plan. Con...

  2. Tele-robotic/autonomous control using controlshell

    Energy Technology Data Exchange (ETDEWEB)

    Wilhelmsen, K.C.; Hurd, R.L.; Couture, S.

    1996-12-10

    A tele-robotic and autonomous controller architecture for waste handling and sorting has been developed which uses tele-robotics, autonomous grasping and image processing. As a starting point, prior work from LLNL and ORNL was restructured and ported to a special real-time development environment. Significant improvements in collision avoidance, force compliance, and shared control aspects were then developed. Several orders of magnitude improvement were made in some areas to meet the speed and robustness requirements of the application.

  3. Decentralized Coordination of Autonomous Vehicles at intersections

    OpenAIRE

    Makarem, Laleh; Gillet, Denis

    2011-01-01

    In this paper, the decentralized coordination of point-mass autonomous vehicles at intersections using navigation functions is considered. As main contribution, the inertia of the vehicles is taken into account to enable on-board energy optimization for crossing. In such a way, heavier vehicles that need more energy and time for acceleration or breaking are given an indirect priority at intersections. The proposed decentralized coordination scheme of autonomous vehicles at intersection is com...

  4. Omnidirectional Stereo Vision for Autonomous Vehicles

    OpenAIRE

    Schönbein, Miriam

    2014-01-01

    Environment perception with cameras is an important requirement for many applications for autonomous vehicles and robots. This work presents a stereoscopic omnidirectional camera system for autonomous vehicles which resolves the problem of a limited field of view and provides a 360° panoramic view of the environment. We present a new projection model for these cameras and show that the camera setup overcomes major drawbacks of traditional perspective cameras in many applications.

  5. Autonomous navigation and sign detector learning

    OpenAIRE

    Ellis, Liam; Pugeault, Nicolas; Öfjäll, Kristoffer; Hedborg, Johan; Bowden, Richard; Felsberg, Michael

    2013-01-01

    This paper presents an autonomous robotic system that incorporates novel Computer Vision, Machine Learning and Data Mining algorithms in order to learn to navigate and discover important visual entities. This is achieved within a Learning from Demonstration (LfD) framework, where policies are derived from example state-to-action mappings. For autonomous navigation, a mapping is learnt from holistic image features (GIST) onto control parameters using Random Forest regression. Additionally, vis...

  6. Autonomous Path Following Using Convolutional Networks

    OpenAIRE

    Schmiterlöw, Maria

    2012-01-01

    Autonomous vehicles have many application possibilities within many different fields like rescue missions, exploring foreign environments or unmanned vehicles etc. For such system to navigate in a safe manner, high requirements of reliability and security must be fulfilled. This master's thesis explores the possibility to use the machine learning algorithm convolutional network on a robotic platform for autonomous path following. The only input to predict the steering signal is a monochromati...

  7. Visual navigation for an autonomous mobile vehicle

    OpenAIRE

    Peterson, Kevin Robert

    1992-01-01

    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...

  8. Control of the MARES Autonomous Underwater Vehicle

    OpenAIRE

    Bruno Ferreira; Miguel Pinto; Anibal Matos; Nuno Cruz

    2009-01-01

    This paper focuses the control problem of a nonholonomic autonomous underwater vehicle, moving in the tridimensional space. The dynamic of a body in submarine environments is strongly nonlinear. This implies that classical linear controllers are often inadequate whereby Lyapunov theory is here considered. Methods based in this theory are promising tools to design controllers and are applied to the case of MARES, a small-sized autonomous underwater vehicle. Several controllers based only on Ly...

  9. Autonomous vehicle development for vertical submarine observation

    OpenAIRE

    Gomáriz Castro, Spartacus; Prat Tasias, Jordi; Arbós, Alejandro; Viñolo Monzoncillo, Carlos; Pallares, Oriol

    2009-01-01

    This work proposes the development of an ocean observation vehicle. This vehicle, a hybrid between Autonomous Underwater Vehicles (AUV) and Autonomous Surface Vehicles (ASV) moves on the surface of the sea and makes vertical immersions to obtain the profiles of a water column according to a pre-established plan. Its design provides lower production cost and higher efficiency. GPS navigation allows the platform to move along the surface of the water while a radio-modem provid...

  10. TRIDENT: A Framework for Autonomous Underwater Intervention

    OpenAIRE

    Sanz Valero, Pedro José; Ridao, Pere; Oliver, Gabriel; Melchiorri, Claudio; Casalino, Giuseppe; Silvestre, Carlos; Petillot, Yvan; Turetta, Alessio

    2011-01-01

    TRIDENT is a STREP project recently approved by the European Commission whose proposal was submitted to the ICT call 4 of the 7th Framework Program. The project proposes a new methodology for multipurpose underwater intervention tasks. To that end, a cooperative team formed with an Autonomous Surface Craft and an Intervention Autonomous Underwater Vehicle will be used. The proposed methodology splits the mission in two stages mainly devoted to survey and intervention tasks, res...

  11. Advancing Autonomous Operations for Deep Space Vehicles

    Science.gov (United States)

    Haddock, Angie T.; Stetson, Howard K.

    2014-01-01

    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.

  12. Autonomous control systems - Architecture and fundamental issues

    Science.gov (United States)

    Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

    1988-01-01

    A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

  13. Heavy metals in MSW incineration fly ashes

    DEFF Research Database (Denmark)

    Ferreira, Celia; Ribeiro, Alexandra B.; Ottosen, Lisbeth M.

    2003-01-01

    characterized regarding its physical-chemical properties: pH, solubility, chemical composition, and leaching, amongst others. Results indicate a high alkalinity and the presence of large amounts of calcium, chlorides, sulfates, carbonates, sodium and potassium. Metal concentrations in fly ash are: 6,2 g/kg for...... zinc, 2,4 g/kg for lead, 1,7 g/kg for iron, and 7,9 g/kg for magnesium. Copper, manganese, chromium and cadmium are also present with 546, 338, 104 and 91 mg/kg of fly ash, respectively. These results are extremely important in subsequent studies on the treatment of fly ash....

  14. FlyBase: the Drosophila database. The Flybase Consortium.

    OpenAIRE

    1996-01-01

    FlyBase is a database of genetic and molecular data concerning Drosophila. FlyBase is maintained as a relational database (in Sybase). The scope of FlyBase includes: genes, alleles (and phenotypes), aberrations, pointers to sequence data, clones, stock lists, Drosophila workers and bibliographic references. FlyBase is also available on CD-ROM for Macintosh systems (Encyclopaedia of Drosophila).

  15. Prospective medical evaluation of 7 dogs presented with fly biting

    OpenAIRE

    Frank, Diane; Bélanger, Marie C.; Bécuwe-Bonnet, Véronique; Parent, Joane

    2012-01-01

    Fly biting describes a syndrome in which dogs appear to be watching something and then snapping at it. Medical work-up of fly biting in dogs has never been reported. The aims of this case series were to characterize fly biting and perform a complete medical evaluation of dogs displaying fly biting.

  16. Electrodialytic removal of heavy metals from fly ashes

    DEFF Research Database (Denmark)

    Pedersen, Anne Juul

    2002-01-01

    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....

  17. [Drug with a high metabolic activity, cocarnit, in the treatment of diabetic cardiac autonomic neuropathy].

    Science.gov (United States)

    Popov, S V; Melekhovets', O K; Demikhova, N V; Vynnychenko, L B

    2012-01-01

    Left ventricular diastolic dysfunction in patients with diabetes is formed in the absence of atherosclerotic changes as a consequence of diabetic cardiac autonomic neuropathy in the early stages of diabetes. Progression of autonomic cardiac neuropathy in cardio-vascular type is associated with the violation of energy supply of cells, protein synthesis, electrolyte exchange, the exchange of trace elements, oxidation reduction processes, oxygen-transport function of blood, so that metabolic therapy is carried out to optimize the processes of formation and energy costs. The drug cocarnit activates processes of aerobic oxidation of glucose, as well as providing regulatory influence on the oxidation of fatty acids. Applying of cocarnit in complex therapy in patients with diabetic cardiac autonomic neuropathy found improvement of left ventricular diastolic function, and positive dynamics in the efferent activity balance of the sympathetic and parasympathetic control of heart rate variability, which provides the regression of clinical symptoms. PMID:23356142

  18. Improved autonomous star identification algorithm

    Science.gov (United States)

    Luo, Li-Yan; Xu, Lu-Ping; Zhang, Hua; Sun, Jing-Rong

    2015-06-01

    The log-polar transform (LPT) is introduced into the star identification because of its rotation invariance. An improved autonomous star identification algorithm is proposed in this paper to avoid the circular shift of the feature vector and to reduce the time consumed in the star identification algorithm using LPT. In the proposed algorithm, the star pattern of the same navigation star remains unchanged when the stellar image is rotated, which makes it able to reduce the star identification time. The logarithmic values of the plane distances between the navigation and its neighbor stars are adopted to structure the feature vector of the navigation star, which enhances the robustness of star identification. In addition, some efforts are made to make it able to find the identification result with fewer comparisons, instead of searching the whole feature database. The simulation results demonstrate that the proposed algorithm can effectively accelerate the star identification. Moreover, the recognition rate and robustness by the proposed algorithm are better than those by the LPT algorithm and the modified grid algorithm. Project supported by the National Natural Science Foundation of China (Grant Nos. 61172138 and 61401340), the Open Research Fund of the Academy of Satellite Application, China (Grant No. 2014_CXJJ-DH_12), the Fundamental Research Funds for the Central Universities, China (Grant Nos. JB141303 and 201413B), the Natural Science Basic Research Plan in Shaanxi Province, China (Grant No. 2013JQ8040), the Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20130203120004), and the Xi’an Science and Technology Plan, China (Grant. No CXY1350(4)).

  19. Compact Autonomous Hemispheric Vision System

    Science.gov (United States)

    Pingree, Paula J.; Cunningham, Thomas J.; Werne, Thomas A.; Eastwood, Michael L.; Walch, Marc J.; Staehle, Robert L.

    2012-01-01

    Solar System Exploration camera implementations to date have involved either single cameras with wide field-of-view (FOV) and consequently coarser spatial resolution, cameras on a movable mast, or single cameras necessitating rotation of the host vehicle to afford visibility outside a relatively narrow FOV. These cameras require detailed commanding from the ground or separate onboard computers to operate properly, and are incapable of making decisions based on image content that control pointing and downlink strategy. For color, a filter wheel having selectable positions was often added, which added moving parts, size, mass, power, and reduced reliability. A system was developed based on a general-purpose miniature visible-light camera using advanced CMOS (complementary metal oxide semiconductor) imager technology. The baseline camera has a 92 FOV and six cameras are arranged in an angled-up carousel fashion, with FOV overlaps such that the system has a 360 FOV (azimuth). A seventh camera, also with a FOV of 92 , is installed normal to the plane of the other 6 cameras giving the system a > 90 FOV in elevation and completing the hemispheric vision system. A central unit houses the common electronics box (CEB) controlling the system (power conversion, data processing, memory, and control software). Stereo is achieved by adding a second system on a baseline, and color is achieved by stacking two more systems (for a total of three, each system equipped with its own filter.) Two connectors on the bottom of the CEB provide a connection to a carrier (rover, spacecraft, balloon, etc.) for telemetry, commands, and power. This system has no moving parts. The system's onboard software (SW) supports autonomous operations such as pattern recognition and tracking.

  20. Effect of Fly Ash on the Electrical Conductivity of Concretes

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    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.

  1. Karyotype of the gall fly Tomoplagia rudolphi (Lutz & Lima (Diptera, Tephritidae

    Directory of Open Access Journals (Sweden)

    Marco Antônio A. Carneiro

    1999-01-01

    Full Text Available The objective of the present study is to describe the karyotype of the fruit fly Tomoplagia rudolphi (Lutz & Lima, 1918. This fly induces the formation of galls on the stems of Vernonia polianthes (Asteraceae. The cytogenetic analysis of cerebral ganglia (larva and pupa and testis (adults of T. rudolphi showed a diploid chromosome number of 2n = 10 + xx (female and 2n = 10 + xy (male. The diploid chromosome number 2n = 12 and the XX/XY sex determination system have been found in most of the species studied. The present investigation constitutes the first cytogenetics study of the genus Tomoplagia Coquilltt, 1910.

  2. Karyotype of the gall fly Tomoplagia rudolphi (Lutz & Lima) (Diptera, Tephritidae)

    OpenAIRE

    Marco Antônio A. Carneiro; Luiz Fernando Gomes; Silvia das Graças Pompolo; Lucio Antonio De Oliveira Campos,

    1999-01-01

    The objective of the present study is to describe the karyotype of the fruit fly Tomoplagia rudolphi (Lutz & Lima, 1918). This fly induces the formation of galls on the stems of Vernonia polianthes (Asteraceae). The cytogenetic analysis of cerebral ganglia (larva and pupa) and testis (adults) of T. rudolphi showed a diploid chromosome number of 2n = 10 + xx (female) and 2n = 10 + xy (male). The diploid chromosome number 2n = 12 and the XX/XY sex determination system have been found in most of...

  3. Snowballing and flying under the radar

    DEFF Research Database (Denmark)

    Pötz, Katharina Anna; Hjortsø, Carsten Nico Portefée

    2013-01-01

    management and venture development paths. More specifically, flying under radar in terms of operating under lower institutional requirements, and slowly accumulating resources (snowballing) are major leveraging strategies. We integrate our results into a hypothesized framework for resource management in East...

  4. Radiation hygienic aspects of fly ash

    International Nuclear Information System (INIS)

    Starting from measuring values of radioactivity, toxicity, as well as from models of food chains, radionuclide migration and deposition, irradiation doses are calculated in case of release of fly ash to the environment (e.g. from building materials). (orig.)

  5. 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

    2009-01-01

    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.

  6. Biologic effects of oil fly ash.

    OpenAIRE

    Ghio, Andrew J.; Silbajoris, Robert; Carson, Johnny L.; Samet, James M.

    2002-01-01

    Epidemiologic studies have demonstrated increased human morbidity and mortality with elevations in the concentration of ambient air particulate matter (PM). Fugitive fly ash from the combustion of oil and residual fuel oil significantly contributes to the ambient air particle burden. Residual oil fly ash (ROFA) is remarkable in the capacity to provoke injury in experimental systems. The unique composition of this emission source particle makes it particularly useful as a surrogate for ambient...

  7. Ocular injuries from flying bottle caps.

    Science.gov (United States)

    Fonseka, C

    1993-12-01

    Three cases of serious eye injury are described from flying metal caps of carbonated drink bottles. The injuries occurred while attempting to open the bottle in an unconventional and dangerous way. Though injuries from flying bottle caps have been described before, they have occurred when the bottle exploded. This is the first report of eye injuries caused by bottle caps while opening and are similar to the injuries caused by champagne corks. PMID:8143337

  8. Composites based on fly ash and clay

    OpenAIRE

    Fidancevska, Emilija; Jovanov, Vojo; Angusheva, Biljana; Srebrenkoska, Vineta

    2014-01-01

    Fly ash is a waste generated from the coal combustion during the production of electricity in the thermal power plants. It presents industrial by-product containing Technologically Enhanced Natural Occurring Radioactive Materials (TENORM) with the great potential for valorisation (1). Fly ash is successfully utilized in cement and concrete industry (2), also in ceramics industry (3) as component for manufacturing bricks and tiles, and recently there are many investigations for production of g...

  9. Supervised autonomous robotic soft tissue surgery.

    Science.gov (United States)

    Shademan, Azad; Decker, Ryan S; Opfermann, Justin D; Leonard, Simon; Krieger, Axel; Kim, Peter C W

    2016-05-01

    The current paradigm of robot-assisted surgeries (RASs) depends entirely on an individual surgeon's manual capability. Autonomous robotic surgery-removing the surgeon's hands-promises enhanced efficacy, safety, and improved access to optimized surgical techniques. Surgeries involving soft tissue have not been performed autonomously because of technological limitations, including lack of vision systems that can distinguish and track the target tissues in dynamic surgical environments and lack of intelligent algorithms that can execute complex surgical tasks. We demonstrate in vivo supervised autonomous soft tissue surgery in an open surgical setting, enabled by a plenoptic three-dimensional and near-infrared fluorescent (NIRF) imaging system and an autonomous suturing algorithm. Inspired by the best human surgical practices, a computer program generates a plan to complete complex surgical tasks on deformable soft tissue, such as suturing and intestinal anastomosis. We compared metrics of anastomosis-including the consistency of suturing informed by the average suture spacing, the pressure at which the anastomosis leaked, the number of mistakes that required removing the needle from the tissue, completion time, and lumen reduction in intestinal anastomoses-between our supervised autonomous system, manual laparoscopic surgery, and clinically used RAS approaches. Despite dynamic scene changes and tissue movement during surgery, we demonstrate that the outcome of supervised autonomous procedures is superior to surgery performed by expert surgeons and RAS techniques in ex vivo porcine tissues and in living pigs. These results demonstrate the potential for autonomous robots to improve the efficacy, consistency, functional outcome, and accessibility of surgical techniques. PMID:27147588

  10. Understanding fly-ear inspired directional microphones

    Science.gov (United States)

    Liu, Haijun; Zhang, Xuming; Yu, Miao

    2009-03-01

    In this article, the equivalent two-degree-of-freedom (2-DOF) model for the hypersensitive ear of fly Ormia ocharacea is revisited. It is found that in addition to the mechanical coupling between the ears, the key to the remarkable directional hearing ability of the fly is the proper contributions of the rocking mode and bending mode of the ear structure. This can serve as the basis for the development of fly-ear inspired directional microphones. New insights are also provided to establish the connection between the mechanics of the fly ear and the prior biological experiments, which reveals that the fly ear is a nature-designed optimal structure that might have evolved to best perform its localization task at 5 kHz. Based on this understanding, a new design of the fly-ear inspired directional microphone is presented and a corresponding normalized continuum mechanics model is derived. Parametric studies are carried out to study the influence of the identified non-dimensional parameters on the microphone performance. Directional microphones are developed to verify the understanding and concept. This study provides a theoretical guidance to develop miniature bio-inspired directional microphones, and can impact many fronts that require miniature directional microphones.

  11. The Mexican Fruit Fly Eradication Programme

    International Nuclear Information System (INIS)

    The goal of the Mexican Fruit Fly Eradication Programme is to control, suppress or eradicate from Mexico four species of fruit flies of economic and quarantine importance (Anastrepha ludens Loew, A. obliqua Macquart, A. serpentina Wied. and A. striata Schiner). These pests cause damage amounting to US$710 million per year. In addition to this cost, there are other expenses from pest control actions and the loss of international markets, because fruit importing countries have established stringent quarantine measures to restrict the entry of these pests. For purposes of the programme's implementation, Mexico was divided into three working zones, defined by agro-ecological characteristics, the number of fruit fly species present and the size of fruit growing regions. In addition, a cost:benefit analysis was carried out which indicated that the rate of return, in a 12-year time frame, might be as much as 33:1 in Northern Mexico, and 17:1 in the rest of the country, for an area over 100,000 hectares. Eradication technology involves: 1) surveys of pest populations by trapping and host fruit harvesting to monitor the presence and density of fruit flies, 2) reduction of pest populations applying cultural practices and using selective bait sprays, 3) mass release of sterile flies and augmentative release of parasitoids to eliminate populations and, 4) enforcement of quarantine measures to protect fruit fly free areas

  12. Characterization of sintered coal fly ashes

    Energy Technology Data Exchange (ETDEWEB)

    M. Erol; S. Kucukbayrak; A. Ersoy-Mericboyu [Istanbul Technical University, Istanbul (Turkey). Department of Chemical Engineering, Chemical and Metallurgical Engineering Faculty

    2008-06-15

    Can, Catalagzi, Seyitomer and Afsin-Elbistan thermal power plant fly ashes were used to investigate the sintering behavior of fly ashes. For this purpose, coal fly ash samples were sintered to form ceramic materials without the addition of any inorganic additives or organic binders. In sample preparation, 1.5 g of fly ash was mixed in a mortar with water. Fly ash samples were uniaxially pressed at 40 MPa to achieve a reasonable strength. The powder compacts were sintered in air. X-ray diffraction analysis revealed that quartz (SiO{sub 2}), mullite (Al{sub 6}Si{sub 2}O{sub 13}), anorthite (CaAl{sub 2}Si{sub 2}O{sub 8}), gehlenite (Ca{sub 2}Al{sub 2}SiO{sub 7}) and wollastonite (CaSiO{sub 3}) phases occurred in the sintered samples. Scanning electron microscopy investigations were conducted on the sintered coal fly ash samples to investigate the microstructural evolution of the samples. Different crystalline structures were observed in the sintered samples. The sintered samples were obtained having high density, low water adsorption and porosity values. Higher Al{sub 2}O{sub 3} + SiO{sub 2} contents caused to better properties in the sintered materials. 19 refs., 5 figs., 4 tabs.

  13. Properties of MSW fly ash-calcium sulfoaluminate cement matrix and stabilization/solidification on heavy metals.

    Science.gov (United States)

    Qian, G R; Shi, J; Cao, Y L; Xu, Y F; Chui, P C

    2008-03-21

    In this paper, investigations were undertaken to formulate the properties of fly ash-calcium sulfoaluminate (CSA) cement matrix by blending MSW fly ash with CSA cement. The compressive strength, pore structure, hydration phases, and leaching behavior of Zn and Pb doped MSW fly ash-CSA cement matrices were determined by XRD, MIP, DSC, FTIR, EDX, TCLP leaching test and other experiments. The results showed that the addition of MSW fly ash to form fly ash-CSA cement matrix reduced the compressive strengths of matrices and made the pore distribution of matrices coarser, compared to that of pure CSA cement matrix. However, fly ash-CSA cement matrix could effectively immobilize high concentration of heavy metal such as lead and zinc with much lesser leaching of TCLP. Besides ettringite AFt, Friedel phase was a new hydration phase formed in the matrix. The formation of these hydration phases was responsible for huge reservoir of heavy metal stabilization by chemical fixing. Therefore, it could be postulated that MSW fly ash-CSA cement matrix was a potential new constituent of S/S matrix for high concentration of heavy metals such as Zn and Pb ions. PMID:17728061

  14. Leachability of trace metal elements from fly ashes, and from concrete incorporating fly ashes

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, M.H. [National University of Singapore (Singapore); Blanchette, M.C. [Natural Resources Canada, Ottawa, ON (Canada). CANMET Energy Technology Centre; Malhotra, V.M. [Natural Resources Canada, Ottawa, ON (Canada)

    2001-07-01

    Manufacturing portland cement is not environmentally desirable because for every tonne of cement produced, about one tonne of carbon dioxide is released into the atmosphere. This problem can be solved by replacing a portion of portland cement with fly ash, a mineral by-product of burning coal at power generation facilities. A study was conducted to examine the leachability of trace metal elements from a variety of fly ashes from various sources in Canada and the United States along with the concrete incorporating the fly ash. Gold, arsenic, boron, barium cadmium, chromium, copper, mercury, lead and selenium are the regulated elements in leachates. In this study, each of these elements were tested from 9 fly ashes within the limits of the U.S. Environmental Protection Agency and the Canadian regulations for the Transportation of Dangerous Goods. It was shown that in general, but with some exceptions, the leaching of arsenic, boron, nickel and selenium increased with an increase in their content in the fly ash. Arsenic concentration from fly ash obtained from bituminous coal was found to be much higher than that from lignite or from sub-bituminous coal. However, the study also showed that none of the trace metals in the leachates from the fly ash concrete samples exceeded the regulated concentration limits, regardless of the type and percentage of fly ash used. It was concluded that concrete which incorporates fly ash is environmentally stable. It was also concluded that waste product utilization, in terms of using fly ash from power generating facilities, can significantly reduce carbon dioxide emissions when manufacturing portland cement. Typical replacement levels of fly ash in portland cement concrete is about 20 per cent by mass of the total cementitious materials. 10 refs., 14 tabs., 4 figs.

  15. Autonomous Learning and Improving Communicative Competence

    Institute of Scientific and Technical Information of China (English)

    李宝红; 孙晓黎

    2013-01-01

    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.

  16. 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.

    2010-01-01

    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.

  17. Hydration mechanisms of ternary Portland cements containing limestone powder and fly ash

    International Nuclear Information System (INIS)

    The effect of minor additions of limestone powder on the properties of fly ash blended cements was investigated in this study using isothermal calorimetry, thermogravimetry (TGA), X-ray diffraction (XRD), scanning electron microscopy (SEM) techniques, and pore solution analysis. The presence of limestone powder led to the formation of hemi- and monocarbonate and to a stabilisation of ettringite compared to the limestone-free cements, where a part of the ettringite converted to monosulphate. Thus, the presence of 5% of limestone led to an increase of the volume of the hydrates, as visible in the increase in chemical shrinkage, and an increase in compressive strength. This effect was amplified for the fly ash/limestone blended cements due to the additional alumina provided by the fly ash reaction.

  18. Real Time Control Software for Electromagnetic Formation Flight Project

    Data.gov (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...

  19. Development of a Tethered Formation Flight Testbed for ISS Project

    Data.gov (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...

  20. 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: bora.cetin@sdsmt.edu [College of Engineering, University of Georgia, Athens, GA 30602 (United States); Benson, Craig H., E-mail: chbenson@wisc.edu [Department of Civil and Environmental Engineering, University of Wisconsin, Madison, WI 53706 (United States); Aydilek, Ahmet H., E-mail: aydilek@umd.edu [Department of Civil and Environmental Engineering, University of Maryland, College Park, MD 20742 (United States); Edil, Tuncer B., E-mail: edil@engr.wisc.edu [Department of Civil and Environmental Engineering, University of Wisconsin, Madison, WI 53706 (United States)

    2015-04-15

    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.