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 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...

  3. Autonomous formation flying in low earth orbit

    NARCIS (Netherlands)

    D'Amico, S.

    2010-01-01

    Formation flying is commonly identified as the collective usage of two or more cooperative spacecraft to exercise the function of a single monolithic virtual instrument. The distribution of tasks and payloads among fleets of coordinated smaller satellites offers the possibility to overcome the class

  4. 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.

  5. 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.

  6. Relative navigation for autonomous formation flying satellites using the state-dependent Riccati equation filter

    Science.gov (United States)

    Park, Han-Earl; Kim, Young-Rok

    2016-01-01

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

  7. 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

  8. 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.

  9. PROBA-3: Precise formation flying demonstration mission

    Science.gov (United States)

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

    2013-01-01

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

  10. 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...

  11. 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

  12. 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

  13. 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.

  14. Formation Flying for Distributed InSAR

    Science.gov (United States)

    Scharf, Daniel P.; Murray, Emmanuell A.; Ploen, Scott R.; Gromov, Konstantin G.; Chen, Curtis W.

    2006-01-01

    We consider two spacecraft flying in formation to create interferometric synthetic aperture radar (InSAR). Several candidate orbits for such in InSar formation have been previously determined based on radar performance and Keplerian orbital dynamics. However, with out active control, disturbance-induced drift can degrade radar performance and (in the worst case) cause a collision. This study evaluates the feasibility of operating the InSAR spacecraft as a formation, that is, with inner-spacecraft sensing and control. We describe the candidate InSAR orbits, design formation guidance and control architectures and algorithms, and report the (Delta)(nu) and control acceleration requirements for the candidate orbits for several tracking performance levels. As part of determining formation requirements, a formation guidance algorithm called Command Virtual Structure is introduced that can reduce the (Delta)(nu) requirements compared to standard Leader/Follower formation approaches.

  15. 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.

  16. 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

  17. 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

  18. 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.

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

    NARCIS (Netherlands)

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

    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 demonstr

  20. 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

  1. 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.

  2. 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.

  3. 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...

  4. 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...

  5. 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.

  6. 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...

  7. Formation flying in elliptic orbits with the J2 perturbation

    Institute of Scientific and Technical Information of China (English)

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

    2012-01-01

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

  8. 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.

  9. 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.

  10. 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.

  11. Study on relative orbital configuration in satellite formation flying

    Institute of Scientific and Technical Information of China (English)

    Junfeng Li; Xin Meng; Yunfeng Gao; Xiang Li

    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.

  12. 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.

  13. 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.

  14. 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.

  15. 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...

  16. Characterizing Network Architecture for Inter-satellite Communication and Relative Navigation in Precise Formation Flying

    NARCIS (Netherlands)

    Sun, R.; Guo, J.; Gill, E.K.A.; Maessen, D.

    2011-01-01

    Precise formation flying (PFF) missions require formation acquisition and maintenance through interactions among spacecraft by inter-satellite communication and relative navigation. That requires the network architecture to satisfy dedicated system constraints of time-criticality for updating naviga

  17. 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

  18. 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.

  19. Terahertz-based relative positioning of aircraft flying in formation

    Science.gov (United States)

    Parker, John Scott

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

  20. 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.

  1. 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...

  2. 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.

  3. 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....

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

    NARCIS (Netherlands)

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

    2009-01-01

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

  5. 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.

  6. 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...

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

    NARCIS (Netherlands)

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

    2011-01-01

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

  8. 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

  9. Spatial Mapping of NEO 2008 EV5 Using Small Satellite Formation Flying and Steresoscopic Technology

    Science.gov (United States)

    Gonzalez, Juan; Singh Derewa, Chrishma

    2016-10-01

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

  10. 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.

  11. Enabling Spacecraft Formation Flying through Position Determination, Control and Enhanced Automation Technologies

    Science.gov (United States)

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

    2000-01-01

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

  12. 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...

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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...

  18. 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 ...

  19. 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

  20. 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.

  1. Conservative Analytical Collision Probabilities for Orbital Formation Flying

    Science.gov (United States)

    Carpenter, J. Russell

    2004-01-01

    The literature offers a number of approximations for analytically and/or efficiently computing the probability of collision between two space objects. However, only one of these techniques is a completely analytical approximation that is suitable for use in the preliminary design phase, when it is more important to quickly analyze a large segment of the trade space than it is to precisely compute collision probabilities. Unfortunately, among the types of formations that one might consider, some combine a range of conditions for which this analytical method is less suitable. This work proposes a simple, conservative approximation that produces reasonable upper bounds on the collision probability in such conditions. Although its estimates are much too conservative under other conditions, such conditions are typically well suited for use of the existing method.

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

    Directory of Open Access Journals (Sweden)

    Shao-lei Zhou

    2016-01-01

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

  3. 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

  4. In situ ATR-FTIR study of the early stages of fly ash geopolymer gel formation.

    Science.gov (United States)

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

    2007-08-14

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

  5. 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.

  6. Linear and Nonlinear Relative Navigation Strategies for Small Satellite Formation Flying Based on Relative Position Measurement

    Science.gov (United States)

    Zhang, Xiaomin; Zheng, You

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

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

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

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

  8. 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.

  9. 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

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

    Science.gov (United States)

    Yamauchi, Yukiko

    2013-12-01

    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.

  11. 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.

  12. Decentralized State Estimation Algorithm of Centralized Equivalent Precision for Formation Flying Spacecrafts Based on Junction Tree

    Directory of Open Access Journals (Sweden)

    Mengyuan Dai

    2015-01-01

    Full Text Available As centralized state estimation algorithms for formation flying spacecraft would suffer from high computational burdens when the scale of the formation increases, it is necessary to develop decentralized algorithms. To the state of the art, most decentralized algorithms for formation flying are derived from centralized EKF by simplification and decoupling, rendering suboptimal estimations. In this paper, typical decentralized state estimation algorithms are reviewed, and a new scheme for decentralized algorithms is proposed. In the new solution, the system is modeled as a dynamic Bayesian network (DBN. A probabilistic graphical method named junction tree (JT is used to analyze the hidden distributed structure of the DBNs. Inference on JT is a decentralized form of centralized Bayesian estimation (BE, which is a modularized three-step procedure of receiving messages, collecting evidences, and generating messages. As KF is a special case of BE, the new solution based on JT is equivalent in precision to centralized KF in theory. A cooperative navigation example of a three-satellite formation is used to test the decentralized algorithms. Simulation results indicate that JT has the best precision among all current decentralized algorithms.

  13. 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.

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

    CERN Document Server

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

    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 ...

  15. 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.

  16. 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

  17. 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.

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

    Directory of Open Access Journals (Sweden)

    John Oyekan

    2016-08-01

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

  19. Application of Analytic Solution in Relative Motion to Spacecraft Formation Flying in Elliptic Orbit

    Science.gov (United States)

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

    2008-09-01

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

  20. Ionosphere influence on success rate of GPS ambiguity resolution in a satellite formation flying

    Science.gov (United States)

    Baroni, Leandro

    2015-10-01

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

  1. 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.

  2. 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.

  3. 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

  4. 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

  5. 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.

  6. 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.

  7. 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

  8. Innovative optical power detection array system for relative positioning of inner-formation flying system

    Science.gov (United States)

    Hou, Zhendong; Wang, Zhaokui; Zhang, Yulin

    2016-09-01

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

  9. 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.

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

    Directory of Open Access Journals (Sweden)

    Adel Tekari

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

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

    Science.gov (United States)

    Valdes, A.; Khorasani, K.

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

  12. 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...

  13. 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 ...

  14. 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.

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

    NARCIS (Netherlands)

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

    2014-01-01

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

  16. 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....

  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

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

  19. 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

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

    Directory of Open Access Journals (Sweden)

    N. S. Kharina

    2015-01-01

    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

  1. Nonlinear adaptive formation control for a class of autonomous holonomic planetary exploration rovers

    Science.gov (United States)

    Ganji, Farid

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

  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 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...

  4. On-the Fly Merging of Attitude Solutions

    DEFF Research Database (Denmark)

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

    2008-01-01

    Recent advances in autonomous attitude determination instrumentation enable even small satellites flying fully autonomous multi head star trackers providing full accurate and robust attitude information. Each sensor provides the full attitude information but for robustness and optimal usage...

  5. 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...

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

    Directory of Open Access Journals (Sweden)

    Liguo Weng

    2013-01-01

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

  7. Attack of the flying snakes: formation of isolated H I clouds by fragmentation of long streams

    Science.gov (United States)

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

    2016-09-01

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

  8. 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.

  9. SATSIM—A real-time multi-satellite simulator for test and validation in formation flying projects

    Science.gov (United States)

    Bodin, Per; Nylund, Matti; Battelino, Milan

    2012-05-01

    The satellite simulator SATSIM was developed during the experimental PRISMA multi-satellite formation flying project and was primarily aimed to validate the Guidance, Navigation and Control system (GNC) and the on-board software in a simulated real-time environment. The SATSIM system has as a main feature the ability to simulate sensors and actuators, spacecraft dynamics, intra-satellite communication protocols, environmental disturbances, solar illumination conditions as well as solar and lunar blinding. The core of the simulator consists of MATLAB/Simulink models of the spacecraft hardware and the space environment. The models run on a standard personal computer that in the simplest scenario may be connected to satellite controller boards through a CAN (Controller Area Network) data bus. SATSIM is, in conjunction with the RAMSES Test and Verification system, able to perform open-loop, hardware-in-the-loop as well as full-fledged closed-loop tests through the utilisation of peripheral sensor unit simulators. The PRISMA satellites were launched in June 2010 and the project is presently in its operational phase. This paper describes how a low cost but yet reliable simulator such as the SATSIM platform in different configurations has been used through the different phases of a multi-satellite project, from early test of onboard software running on satellite controller boards in a lab environment, to full-fledged closed-loop tests of satellite flight models.

  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. 6-DOF robust adaptive terminal sliding mode control for spacecraft formation flying

    Science.gov (United States)

    Wang, Jianying; Sun, Zhaowei

    2012-04-01

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

  12. 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.

  13. 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.

  14. 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.

  15. [Autonomic neuropathies].

    Science.gov (United States)

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

    2013-07-01

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

  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. 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.

  18. 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...

  19. Autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1983-01-01

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

  20. Autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1980-01-01

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

  1. Craniosynostosis-Associated Fgfr2C342Y Mutant Bone Marrow Stromal Cells Exhibit Cell Autonomous Abnormalities in Osteoblast Differentiation and Bone Formation

    Directory of Open Access Journals (Sweden)

    J. Liu

    2013-01-01

    Full Text Available We recently reported that cranial bones of craniosynostotic mice are diminished in density when compared to those of wild type mice, and that cranial bone cells isolated from the mutant mice exhibit inhibited late stage osteoblast differentiation. To provide further support for the idea that craniosynostosis-associated Fgfr mutations lead to cell autonomous defects in osteoblast differentiation and mineralized tissue formation, here we tested bone marrow stromal cells isolated from mice for their ability to differentiate into osteoblasts. Additionally, to determine if the low bone mass phenotype of Crouzon syndrome includes the appendicular skeleton, long bones were assessed by micro CT. cells showed increased osteoblastic gene expression during early osteoblastic differentiation but decreased expression of alkaline phosphatase mRNA and enzyme activity, and decreased mineralization during later stages of differentiation, when cultured under 2D in vitro conditions. Cells isolated from mice also formed less bone when allowed to differentiate in a 3D matrix in vivo. Cortical bone parameters were diminished in long bones of mice. These results demonstrate that marrow stromal cells of mice have an autonomous defect in osteoblast differentiation and bone mineralization, and that the mutation influences both the axial and appendicular skeletons.

  2. 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.

  3. 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.

  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. Multicopter Design Challenge: Design, Fly, and Learn

    Science.gov (United States)

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

    2016-01-01

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

  6. 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 between art...

  7. Flying Cities

    DEFF Research Database (Denmark)

    Ciger, Jan

    2006-01-01

    The Flying Cities artistic installation brings to life imaginary cities made from the speech input of visitors. In this article we describe the original interactive process generating real time 3D graphics from spectators' vocal inputs. This example of cross-modal interaction has the nice property....... 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....

  8. Results of PRISMA/FFIORD extended mission and applicability to future formation flying and active debris removal missions

    Science.gov (United States)

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

    2013-07-01

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

  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. 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

  11. 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 ...

  12. 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.

  13. Diabetic autonomic neuropathy.

    Science.gov (United States)

    Freeman, Roy

    2014-01-01

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

  14. 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

  15. 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。

  16. 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...

  17. 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.

  18. 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)

    Science.gov (United States)

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

    2015-02-01

    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.

  19. 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

  20. 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...

  1. 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.

  2. 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

  3. 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.

  4. 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.

  5. Estimating Orientation of Flying Fruit Flies.

    Directory of Open Access Journals (Sweden)

    Xi En Cheng

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

  6. 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...

  7. 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 ...

  8. 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 ...

  9. 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.

  10. 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.

  11. [Trigeminal autonomic cephalgias].

    Science.gov (United States)

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

    2015-01-01

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

  12. 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。

  13. 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

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

    Institute of Scientific and Technical Information of China (English)

    李雪; 张其善; 习清伶; 钟兴旺; 熊之凡

    2008-01-01

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

  15. 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

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. Heavy metals in MSW incineration fly ashes

    DEFF Research Database (Denmark)

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

    2003-01-01

    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......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...... is 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...

  2. Formative Assessment Based on Internet: The Key to Improving Students" Autonomous Learning Ability%基于网络的形成性考核:提高学生自主学习能力的有效措施

    Institute of Scientific and Technical Information of China (English)

    周丽超

    2011-01-01

    Nowadays, with the rapid development of internet technology, the studies and practice on formative assessment based on internet has become more and more popular. This paper, analyzing the problems existing in students' autonomous learning, offers the view that the formative assessment based on internet is the key to improving students' learning ability. Therefore, we should change the idea and strengthen the design in order to push the development of distance education.%近年来,随着计算机网络技术的迅猛发展,基于网络实施的形成性考核的研究与实践方兴未艾。本文分析了目前学生自主学习普遍存在的问题,认为基于网络的形成性考核改革,是提高学生自主学习能力的有效措施。进一步转变观念,强化设计,推进以网络为手段的远程教育深入发展。

  3. 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.

  4. 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

  5. The Fly Printer - Extended

    DEFF Research Database (Denmark)

    Beloff, Laura; Klaus, Malena

    2016-01-01

    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. The work...... or on the glass sphere. In other words the prints produced with this device are uncontrollable, they are random traces of biological processes. The most recent version of the Fly Printer, currently in progress, incorporates a technological vision (a camera) and neural network learning software (DNNs). The purpose...

  6. 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.

  7. Testing for autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1984-01-01

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

  8. Ever Fly a Tetrahedron?

    Science.gov (United States)

    King, Kenneth

    2004-01-01

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

  9. Study on Relative Navigation System in Aircraft Formation Flying Based on Interacting Multiple Model Algorithm%基于交互式多模型的飞机编队相对导航算法研究

    Institute of Scientific and Technical Information of China (English)

    吉波; 谭震; 樊建文; 巩莉雯

    2014-01-01

    The information of relative position between the members is an important guarantee to realize the system coordinated operations in aircraft formation flying .In order to improve the relative navigation positioning accuracy , this paper discusses JTIDS/GPS/TACAN/IFDL integrated navigation system with-out geographical position reference for aircraft formation flying .Interacting multiple model Extended Kal-man Filter ( IMM-EKF) is proposed to realize multi-sensor integrated relative navigation system , which can overcome the problem of descending filtering precision of filter with single fixed parameter .The simu-lation result shows that IMM-EKF method can improve the positioning accuracy and reliability in relative navigation system , and it still be able to perform well specially in the case of few visible GPS satellites .%在飞机编队飞行时,成员间的相对位置信息是实现系统协同作战的重要保证,为了提高机群编队飞行的相对导航定位精度,在无地面基准的机群编队飞行JTIDS/GPS/TACAN/IFDL组合的相对导航系统中,采用交互式多模型扩展卡尔曼滤波( IMM-EKF)算法,设计实现了多传感器相对导航系统,克服了飞机动态模型参数变化导致使用单一动态模型滤波精度下降的问题。仿真分析结果表明,交互式多模型算法可以提高相对导航系统的定位精度和可靠性,特别在GPS可见卫星很少的情况下,依然能够具有良好的定位性能。

  10. 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...

  11. 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

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

    Institute of Scientific and Technical Information of China (English)

    李雪; 张其善; 徐勇; 王策

    2008-01-01

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

  13. Control of a free-flying robot manipulator system

    Science.gov (United States)

    Alexander, H.

    1986-01-01

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

  14. 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 ...

  15. 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...

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

    Institute of Scientific and Technical Information of China (English)

    肖洁

    2015-01-01

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

  17. 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.

  18. Autonomic Nervous System Disorders

    Science.gov (United States)

    ... with breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result of another disease, such as Parkinson's disease, alcoholism and diabetes. Problems can affect either part ...

  19. 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.

  20. 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...

  1. 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....

  2. 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.

  3. 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.

  4. 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...

  5. 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...

  6. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

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

  7. 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.

  8. Autonomic disturbances in narcolepsy.

    Science.gov (United States)

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

    2011-06-01

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

  9. 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

  10. 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.

  11. 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

  12. 大学英语多媒体网络自主学习的形成性评价体系建构%RESEARCH INTO CONSTRUCTION OF THE SYSTEM OF THE FORMATIVE ASSESSMENT FOR MULTIMEDIA NETWORK AUTONOMOUS LEARNING OF COLLEGE ENGLISH

    Institute of Scientific and Technical Information of China (English)

    谷峰; 陈文; 柯应根

    2011-01-01

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

  13. Autonomous electrochromic assembly

    Science.gov (United States)

    Berland, Brian Spencer; Lanning, Bruce Roy; Stowell, Jr., Michael Wayne

    2015-03-10

    This disclosure describes system and methods for creating an autonomous electrochromic assembly, and systems and methods for use of the autonomous electrochromic assembly in combination with a window. Embodiments described herein include an electrochromic assembly that has an electrochromic device, an energy storage device, an energy collection device, and an electrochromic controller device. These devices may be combined into a unitary electrochromic insert assembly. The electrochromic assembly may have the capability of generating power sufficient to operate and control an electrochromic device. This control may occur through the application of a voltage to an electrochromic device to change its opacity state. The electrochromic assembly may be used in combination with a window.

  14. 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 ...

  15. 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

  16. Autonomous data transmission apparatus

    Science.gov (United States)

    Kotlyar, Oleg M.

    1997-01-01

    A autonomous borehole data transmission apparatus for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters.

  17. 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

  18. 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.

  19. 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.

  20. Catecholamines and diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1995-01-01

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

  1. Kite-Flying Fun

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

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

  2. 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…

  3. 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 ...

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

    Institute of Scientific and Technical Information of China (English)

    鹿传国; 冯新喜; 孔云波; 王振兴

    2012-01-01

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

  5. 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.

  6. 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...

  7. 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.

  8. 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

  9. 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.

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

    Directory of Open Access Journals (Sweden)

    Raanan eGreenman

    2015-03-01

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

  11. 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.

  12. 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.

  13. 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.

  14. 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.)

  15. 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

    2016-03-01

    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.

  16. 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...

  17. 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...

  18. Fly ash effects. II. The active effect of fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Aiqin Wang; Chengzhi Zhang; Wei Suna [Southeast University, Nanjing (China). Department of Materials Science and Engineering

    2004-11-01

    This paper examines the method for determining the hydration degree of cement clinker and the pozzolanic reaction degree of fly ash in the system of cement and fly ash. In the base, the active effect of fly ash is studied. The studied results show that the active effect includes two aspects: (1) Fly ash has stronger pozzolanic activity and can react with Ca(OH)2, and (2) it can promote the hydration of cement. When the content of fly ash is less, its pozzolanic activity can exert well, but its promoting role to the hydration of cement is weaker. When the content of fly ash is more, it is less than its pozzolanic activity can be used, but its promoting role to the hydration of cement is stronger.

  19. 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...

  20. 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.

  1. 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...

  2. 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...

  3. 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 central element of the architecture is the ‘global database’ that serves several purposes, such as storing system parameters, making signals available for data logging and inter-process communication. Standard software components are used to a large extent, OS-9 as real-time operating system, a custom...

  4. 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...

  5. 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.

  6. 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....

  7. 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.

  8. 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.

  9. 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)

  10. 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).

  11. 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…

  12. 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...

  13. Multi-mission, autonomous, synthetic aperture radar

    Science.gov (United States)

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

    2014-05-01

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

  14. 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.

  15. 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...

  16. 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...

  17. Physics of flying

    Science.gov (United States)

    Vetrone, Jim

    2015-05-01

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

  18. The Flying University

    Science.gov (United States)

    Friesen, Catherine

    The Flying University is solo theater performance framed as an academic lecture about Marie Curie and her discovery of radium, delivered to a group of women who have gathered in secret to further their education. As the lecture proceeds, the professor brings in her own research based on a study of Esther Horsch (1905-1991) who lived on a farm in central Illinois. She introduces data from Esther's journals, personal memories, and dreams about Esther's life. The professor's investigation of radium plays at the intersections of magical and mundane, decay and the transformation of life, and the place of ambition in these two women's lives. The intention of this piece is to explore these themes, which are full of mystery, through the traces of the daily lives of Mme. Curie and Esther. Their words and photos are used as roots from which to imagine the things that echo beyond their familiar work; elemental and also fantastically radiant. The Flying University was written and performed by Catherine Friesen April 27-29, 2012 in the Center for Performance Experiment at Hamilton College as part of the University of South Carolina MFA Acting Class of 2013 showcase, Pieces of Eight.

  19. 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......Low-power base stations such as e.g. Femto-cells are one of the candidates for high data rate provisioning in local areas, such as residences, apartment complexes, business offices and outdoor hotspot scenarios. Unfortunately, the benefits are not without new challenges in terms of interference...... 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...

  20. 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...

  1. 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.

  2. 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,

  3. 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.

  4. 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.

  5. 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...

  6. 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.

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

  8. Characterisation and use of biomass fly ash in cement-based materials.

    Science.gov (United States)

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

    2009-12-30

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

  9. 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.

  10. 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.

  11. 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...

  12. Autonomic Function in Neurodegenerative Diseases

    DEFF Research Database (Denmark)

    Sørensen, Gertrud Laura; Jennum, Poul Jørgen

    2013-01-01

    Neurodegenerative diseases are highly debilitating and often lead to severe morbidity and even death. Parkinson’s disease (PD) is the second most common neurodegenerative disease after Alzheimer’s disease. According to the Braak staging study, the progressionof PD starts in the medulla oblongata......, 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...... Medicine to assess the sleep disturbances. The aim of this PhD dissertation was to: 1) Develop a method to investigate autonomic changes during sleep in neurodegenerative diseases, and apply this method on PD, iRBD and narcolepsy patients to evaluate the autonomic function in these diseases. 2) Validate...

  13. AUTONOMOUS GAUSSIAN DECOMPOSITION

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-04-15

    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.

  14. 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.

  15. 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

  16. 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.

  17. 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...

  18. 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.

  19. 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.)

  20. 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...

  1. Research on Collision Probability and Collision Avoidance Maneuver Strategies Of Formation Flying Satellites Based on T-H Equation%基于T-H方程的编队卫星碰撞概率与规避策略研究

    Institute of Scientific and Technical Information of China (English)

    刘通; 邵晓巍; 龚德仁

    2012-01-01

    The collision prediction and collision avoidance maneuver strategies in an elliptical orbit for formation flying satellites are studied based on T-H equation. By propagating the relative state covariance matrix forward and integrating the collision probability density in the risk region, the collision probability of the formation flying satellites is calculated. In the condition that the collision probability is exceeded the safety threshold, a miss distance is created at the predicted collision point along the collision probability gradient by applying a minimum impulsive velocity correction so that the collision point will be on the safety contour line. The simulation results show that the collision prediction method is effective and the avoidance maneuver strategy is feasible.%基于T-H方程,对椭圆轨道下编队卫星碰撞预测以及规避机动进行了研究.通过递推编队卫星的初始状态协方差矩阵,将碰撞概率密度在危险域内积分获得编队卫星的碰撞概率.当碰撞概率大于安全阈值时,采用瞬时校正速度的控制策略对卫星施加最小脉冲速度修正量,在所预测的碰撞点沿碰撞概率梯度产生偏移,到达安全等高线上,从而降低碰撞概率.仿真结果表明,该预测方法有效,规避策略可行.

  2. 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

    2016-02-23

    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.

  3. Size fraction characterization of highly-calcareous fly ash

    Energy Technology Data Exchange (ETDEWEB)

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

    2010-11-15

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

  4. Cementitious binder from fly ash and other industrial wastes

    Energy Technology Data Exchange (ETDEWEB)

    Singh, M.; Garg, M. [Central Building Research Inst., Roorkee (India)

    1999-03-01

    In this paper, investigations were undertaken to formulate cementitious binder by judicious blending of fly ash with Portland cement as well as by admixing fly ash with calcined phosphogypsum, fluorogypsum, lime sludge, and chemical activators of different finenesses. The effect of addition of calcined clay in these types of binders was studied. Data showed that cementitious binders of high compressive strength and water retentivity can be produced. The strength of masonry mortars increased with the addition of chemical activators. The strength development of binders takes place through formation of ettringite. C-S-H, and C{sub 4}AH{sub 13}. The binders are eminently suitable for partial replacement (up to 25%) of the cement in concrete without any detrimental affect on the strength. The results showed that fly ash can be used in the range from 45% to 70% in formulating these binders along with other industrial wastes to help in mitigating environmental pollution.

  5. 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...

  6. 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.

  7. 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.

  8. Autonomous mobile robots: Vehicles with cognitive control

    Energy Technology Data Exchange (ETDEWEB)

    Meystel, A.

    1987-01-01

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

  9. 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

  10. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

    Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; 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......) with a quick and gentle overview of AIMM. Furthermore, the paper identifies key open issues and promising research directions to realize real-world integration and maturation of the AIMM technology. Originality/value - This paper reviews the interdisciplinary research field Autonomous Industrial Mobile...

  11. 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.

  12. Hereditary sensory and autonomic neuropathies.

    Science.gov (United States)

    Auer-Grumbach, Michaela

    2013-01-01

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

  13. 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

  14. 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.

  15. 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

  16. 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.

  17. 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

  18. 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.

  19. 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

  20. 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

  1. 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.

  2. Fly-By-Light Sensors

    Science.gov (United States)

    Fox, Edward V.; Snitzer, Elias

    1983-03-01

    The last decade witnessed the emergence and acceptance of Fly-by-Wire technology for advanced flight control systems. The benefits of fiber-optic technology such as low EMI susceptability, lower aircraft system weight, and lower life cycle cost may substitute Fly-by-Light technology as the accepted state-of-the-art in this decade. This paper addresses the motivation for moving toward Fly-by-Light technology and technology needs for implementation of Fly-by-Light with particular emphasis on the sensors. The paper examines the impact of increased intensity levels of man-made threats (EMI, EMP and nuclear radiation) coupled with the extensive utilization of non-conductive fuselage materials. A baseline Fly-by-Light control system highlights the key system elements of sensors, effectors, and communication which require development for fiber optics to be used. With the ongoing development of fiber-optic communication technology by the telecommunication industry, the responsibility has fallen to the controls industry to provide the generic technology development for the sensing and effector requirements. United Technologies Corporation and in particular its Hamilton Standard and Research Divisions have been developing effector and sensor technology and have applied the results of these efforts to the U.S. Navy Linear Optical Transducer and the U.S. Army Rotary Optical Transducer programs. The linear transducer is a 12-bit, 3.5-inch stroke device. The rotary is a 10-bit, 40 degrees-of-travel unit.

  3. 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...

  4. 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.

  5. 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.

  6. Hydrothermal processing of new fly ash cement

    Energy Technology Data Exchange (ETDEWEB)

    Jiang, W.; Roy, D.M. (Materials Research Lab., Pennsylvania State Univ., University Park, PA (United States))

    1992-04-01

    The recent Mount Pinatubo volcanic eruption in the Philippines, in which at least 268 people died, shows that volcanic eruptions can be highly destructive. The eruption shot ash and debris over the countryside; six towns near the volcano faced a high risk of devastating mudslides, and nearly 2000 U.S. service members and their families were evacuated from two nearby military bases. However, this paper reports that not all the consequences of volcanic eruptions are bad. Under hydrothermal conditions, volcanic ash can be transformed into zeolitic tuff and, eventually, into clay minerals that constitute agricultural soils. The Materials Research Laboratory (MRL) has recently used some artificial pozzolanas (fly ash) that when mixed with lime, under hydrothermal conditions, also produced a new type of cementitious material. This was categorized as a new fly ash cement. The formation of a new hydrothermally treated wood-fiber-reinforced composite has also been demonstrated. It is apparent, however, that with respect to concerns about detailed knowledge of the reactivity of calcium silicate-based materials under hydrothermal conditions, the application of the technology far outweighs the understanding of the underlying principles of reactivity. It would seem that an understanding of reactions on the molecular level is just beginning, and that work on hydrothermal reactions is still a potentially lucrative area of research.

  7. The autonomic phenotype of rumination.

    Science.gov (United States)

    Ottaviani, Cristina; Shapiro, David; Davydov, Dmitry M; Goldstein, Iris B; Mills, Paul J

    2009-06-01

    Recent studies suggest that ruminative thoughts may be mediators of the prolonged physiological effects of stress. We hypothesized that autonomic dysregulation plays a role in the relation between rumination and health. Rumination was induced by an anger-recall task in 45 healthy subjects. Heart rate variability (HRV), baroreflex sensitivity (BRS), and baroreflex effectiveness index (BEI) change scores were evaluated to obtain the autonomic phenotype of rumination. Personality traits and endothelial activation were examined for their relation to autonomic responses during rumination. Degree of endothelial activation was assessed by circulating soluble intercellular adhesion molecule-1 (sICAM-1). Vagal withdrawal during rumination was greater for women than men. Larger decreases in the high frequency component of HRV were associated with higher levels of anger-in, depression, and sICAM-1 levels. BRS reactivity was negatively related to trait anxiety. BEI reactivity was positively related to anger-in, hostility, anxiety, and depression. Lower BEI and BRS recovery were associated with lower social desirability and higher anger-out, anxiety, and depression. Findings suggest that the autonomic dysregulation that characterizes rumination plays a role in the relationships between personality and cardiovascular health. PMID:19272312

  8. 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...

  9. 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 .

  10. The Bering Autonomous Target Detection

    DEFF Research Database (Denmark)

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

    2003-01-01

    autonomous star tracker the Advanced Stellar Compass (ASC). One feature of this instrument is that potential targets are registered directly in terms of date, right ascension, declination, and intensity, which greatly facilitates both tracking search and registering. Results from ground and inflight tests...... are encouraging, both with respect to robustness, speed and accuracy, and demonstrates the span and range of applications of this technology....

  11. Autonomous navigation for artificial satellites

    Science.gov (United States)

    Desai, P. S.

    1975-01-01

    An autonomous navigation system is considered that provides a satellite with sufficient numbers and types of sensors, as well as computational hardware and software, to enable it to track itself. Considered are attitude type sensors, meteorological cameras and scanners, one way Doppler, and image correlator.

  12. 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) ...

  13. Autonomous Duffing-Holmes Type Chaotic Oscillator

    DEFF Research Database (Denmark)

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

    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...

  14. 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.

  15. 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.

  16. Localization from Visual Landmarks on a Free-Flying Robot

    Science.gov (United States)

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

    2016-01-01

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

  17. Fruit Flies Help Human Sleep Research

    Science.gov (United States)

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

  18. Remote Observation of Volcanos by Small Satellite Formations

    Science.gov (United States)

    Schilling, Klaus; Zakšek, Klemen

    2016-07-01

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

  19. 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

  20. 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).

  1. 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...

  2. 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.

  3. 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...

  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...

  5. 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…

  6. 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

  7. 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…

  8. [Emotional and autonomous presentations of metabolic syndrome in childhood].

    Science.gov (United States)

    Naugol'nykh, Iu V; Sukhikh, E V; Mudrova, O A; Smirnova, E N

    2012-01-01

    We examined 46 children and adolescents, aged from 7 to 16 years, with metabolic syndrome (MS) and 20 healthy volunteers. Diagnosis was established by the presence of abdominal obesity. Total cholesterol, low density proteins, atherogenity index, blood insulin and glucose with the determination of insulin resistance index were measured. A special table suggested by A.M. Vein was used for assessment of autonomous tonus and reactivity, Kerdo index and Danini-Ashner reflex were calculated. Compensatory abilities in children with MS were determined by the results of variation cardiointervalography with the calculation of main indicators. The study of autonomous provision of activity was carried out using the experimental modeling of activity: mental, emotional. Emotions and personality were assessed by Shmishek-Leonhard questionnaire. The neurological examination did not reveal focal symptoms. The disintegration of the autonomous system activity manifested itself by the activation of ergotropic link accompanied by the changes in autonomous reactivity and formation of inadequate provision of activity. The results of psychological examination revealed the ecstatic type of accentuation that indicated high emotionality and psychological lability of subjects. PMID:22677659

  9. Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy

    Directory of Open Access Journals (Sweden)

    Heung Yong Jin

    2015-12-01

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

  10. 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.

  11. 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...

  12. 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。

  13. 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

  14. Cardiac autonomic nerve distribution and arrhythmia

    Institute of Scientific and Technical Information of China (English)

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

    2012-01-01

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

  15. 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

  16. 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...

  17. 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

  18. 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.

  19. 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...

  20. 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...

  1. 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...

  2. [Autonomic nervous system in diabetes].

    Science.gov (United States)

    Emdin, M

    2001-08-01

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

  3. 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...

  4. 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.

  5. 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.

  6. "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.

  7. Notes on flying and dying.

    Science.gov (United States)

    Meyer, B C

    1983-07-01

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

  8. On-the-fly Macros

    CERN Document Server

    Gimenez, Omer

    2008-01-01

    We present a domain-independent algorithm that computes macros in a novel way. Our algorithm computes macros "on-the-fly" for a given set of states and does not require previously learned or inferred information, nor prior domain knowledge. The algorithm is used to define new domain-independent tractable classes of classical planning that are proved to include \\emph{Blocksworld-arm} and \\emph{Towers of Hanoi}.

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

    Science.gov (United States)

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

    2001-01-01

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

  10. 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.

  11. 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

  12. 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

  13. 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

  14. 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.

  15. 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.

  16. 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...

  17. 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...

  18. Autonomic dysfunction in cirrhosis and portal hypertension

    DEFF Research Database (Denmark)

    Dümcke, Christine Winkler; Møller, Søren

    2008-01-01

    Liver cirrhosis and portal hypertension are frequently associated with signs of circulatory dysfunction and peripheral polyneuropathy, which includes defects of the autonomic nervous system. Autonomic dysfunction, which is seen in both alcoholic and non-alcoholic liver cirrhosis and increases wit...... liver disease. A description is given of its aetiology and the typical circulatory dysfunction with characteristic hyperdynamic and hyporeactive circulation and heart failure, and the most important tests of the autonomic nervous system....

  19. 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...

  20. 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...

  1. 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.

  2. Attainability of Carnot efficiency with autonomous engines

    Science.gov (United States)

    Shiraishi, Naoto

    2015-11-01

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

  3. Attainability of Carnot efficiency with autonomous engines.

    Science.gov (United States)

    Shiraishi, Naoto

    2015-11-01

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

  4. 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

  5. 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...

  6. 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.

  7. 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.

  8. 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

  9. 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)

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  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. 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.

  17. 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.

  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. 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.)

  20. 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...

  1. 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...

  2. 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.

  3. 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.

  4. An autonomous weeding robot for organic farming

    NARCIS (Netherlands)

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

    2006-01-01

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

  5. 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

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. Autonomous navigation system and method

    Energy Technology Data Exchange (ETDEWEB)

    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.

  16. 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.

  17. BLAST Autonomous Daytime Star Cameras

    CERN Document Server

    Rex, M; Devlin, M J; Gundersen, J; Klein, J; Pascale, E; Wiebe, D; Rex, Marie; Chapin, Edward; Devlin, Mark J.; Gundersen, Joshua; Klein, Jeff; Pascale, Enzo; Wiebe, Donald

    2006-01-01

    We have developed two redundant daytime star cameras to provide the fine pointing solution for the balloon-borne submillimeter telescope, BLAST. The cameras are capable of providing a reconstructed pointing solution with an absolute accuracy < 5 arcseconds. They are sensitive to stars down to magnitudes ~ 9 in daytime float conditions. Each camera combines a 1 megapixel CCD with a 200 mm f/2 lens to image a 2 degree x 2.5 degree field of the sky. The instruments are autonomous. An internal computer controls the temperature, adjusts the focus, and determines a real-time pointing solution at 1 Hz. The mechanical details and flight performance of these instruments are presented.

  18. 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.

  19. 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?

  20. Initial Satellite Formation Flight Results from the Magnetospheric Multiscale Mission

    Science.gov (United States)

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

    2016-01-01

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

  1. Autonomous caregiver following robotic wheelchair

    Science.gov (United States)

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

    2011-12-01

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

  2. An autonomous molecular assembler for programmable chemical synthesis

    Science.gov (United States)

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

    2016-06-01

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

  3. 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.

  4. Low back pain and low level flying

    NARCIS (Netherlands)

    J.C.F.M. Aghina

    1989-01-01

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

  5. MODAL CONTROL OF PILOTLESS FLYING MACHINE

    Directory of Open Access Journals (Sweden)

    V. A. Antanevich

    2010-01-01

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

  6. 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.

  7. A multimodal micro air vehicle for autonomous flight in near-earth environments

    Science.gov (United States)

    Green, William Edward

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

  8. 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.

  9. 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.

  10. 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.

  11. 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.......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....

  12. 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...

  13. 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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2001-08-01

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

  15. 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.

  16. 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.

  17. 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.

  18. 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...

  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. 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.

  1. 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

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

    Directory of Open Access Journals (Sweden)

    Dentler William L

    2008-05-01

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

  3. 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.

  4. 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...

  5. 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.

  6. 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

  7. 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.

  8. 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.

  9. 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

  10. 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.

  11. 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.

  12. 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...

  13. 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.

  14. Autonomic testing: common techniques and clinical applications.

    Science.gov (United States)

    Weimer, Louis H

    2010-07-01

    Laboratories able to test autonomic function are increasingly available and rely on batteries of well-accepted, noninvasive tests. Tests of parasympathetic cardiovagal, sympathetic vasoconstriction, and sudomotor (sweating) function are most commonly employed. Common examples include heart rate variability to various challenges, Valsalva maneuver, standing and tilt-table studies, and various sudomotor methods. New techniques and technical refinements continue to be described. Most studies rely on perturbations of complex systems and not direct assessment. Testing has helped to improve disease recognition and prompted advances in classification, pathophysiology, and treatment. Major areas impacted include hereditary and immune-mediated autonomic neuropathy, diabetic autonomic neuropathy, distal symmetric polyneuropathy, Parkinson disease and other autonomic failure syndromes, orthostatic intolerance, and unexplained syncope. PMID:20592565

  15. 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.

  16. 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

  17. 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

  18. Comparative anatomy of the autonomic nervous system.

    Science.gov (United States)

    Nilsson, Stefan

    2011-11-16

    This short review aims to point out the general anatomical features of the autonomic nervous systems of non-mammalian vertebrates. In addition it attempts to outline the similarities and also the increased complexity of the autonomic nervous patterns from fish to tetrapods. With the possible exception of the cyclostomes, perhaps the most striking feature of the vertebrate autonomic nervous system is the similarity between the vertebrate classes. An evolution of the complexity of the system can be seen, with the segmental ganglia of elasmobranchs incompletely connected longitudinally, while well developed paired sympathetic chains are present in teleosts and the tetrapods. In some groups the sympathetic chains may be reduced (dipnoans and caecilians), and have yet to be properly described in snakes. Cranial autonomic pathways are present in the oculomotor (III) and vagus (X) nerves of gnathostome fish and the tetrapods, and with the evolution of salivary and lachrymal glands in the tetrapods, also in the facial (VII) and glossopharyngeal (IX) nerves.

  19. 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.

  20. 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.

  1. 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.

  2. Cranial Autonomic Symptoms in Pediatric Migraine

    Directory of Open Access Journals (Sweden)

    J Gordon Millichap

    2013-09-01

    Full Text Available Investigators at the University of California, San Francisco, examined the frequency of cranial autonomic symptoms in all pediatric and adolescent patients with migraine seen in 4 different clinical settings during July 2010 to June 2012.

  3. 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.

  4. Autonomic Nervous System Dysfunction in Parkinson's Disease.

    Science.gov (United States)

    Zesiewicz, Theresa A.; Baker, Matthew J.; Wahba, Mervat; Hauser, Robert A.

    2003-03-01

    Autonomic nervous system (ANS) dysfunction is common in Parkinson's disease (PD), affects 70% to 80% of patients, and causes significant morbidity and discomfort. Autonomic nervous system dysfunction symptoms in PD include sexual dysfunction, swallowing and gastrointestinal disorders, bowel and bladder abnormalities, sleep disturbances, and derangements of cardiovascular regulation, particularly, orthostatic hypotension. Autonomic nervous system dysfunction in PD may be caused by an underlying degenerative process that affects the autonomic ganglia, brainstem nuclei, and hypothalamic nuclei. Anti-parkinsonian medications can cause or worsen symptoms of ANS dysfunction. The care of a PD patient with ANS dysfunction relies on its recognition and directed treatment, including coordinated care between the neurologist and appropriate subspecialist. Pharmacotherapy may be useful to treat orthostasis, gastrointestinal, urinary, and sexual dysfunction.

  5. 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...

  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 contributions to empathy: evidence from patients with primary autonomic failure.

    Science.gov (United States)

    Chauhan, Bina; Mathias, Christopher J; Critchley, Hugo D

    2008-06-01

    Empathy for the emotions of others may require simulatory engagement of corresponding autonomic arousal states. We tested the hypothesis that disruption of autonomic control impairs the ability to empathize emotionally with others. Fifteen patients with primary autonomic failure showed attenuated scores on the Mehrabian Balanced Emotional Empathy Scale (BEES), compared to both younger and older controls. This effect was not accounted for by age, gender, mood state or functional disability. These early observations provide preliminary evidence for a direct contribution of autonomic responsivity to the 'higher-order' social cognitive process of empathy, and may inform the dynamics of supportive care.

  8. Marijuana effects on simulated flying ability.

    Science.gov (United States)

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

    1976-04-01

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

  9. 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.

  10. 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

  11. 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...

  12. 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.

  13. 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.

  14. 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. ...

  15. 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...

  16. 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...

  17. 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.

  18. 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...

  19. 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...

  20. Automated cartography by an autonomous mobile robot

    OpenAIRE

    Merrell, Mark L.

    1999-01-01

    The major goal of this thesis was to create a map of a room by an autonomous mobile robot using the robot's internal odometry measurements and ultrasonic sensors. Yamabico, an autonomous mobile robot, will be controlled by Model-based Mobile robot Language (MML). The research for this thesis included the development of an algorithm to use information from the line-fitting capability of MML. It also included research about the inherent errors that are incurred using sonar for precise measureme...

  1. 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...

  2. 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...

  3. 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).

  4. 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.

  5. 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).

  6. 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.

  7. [Autonomic dysfunction syndrome and diabetic cardiac autonomic neuropathy in children with diabetes mellitus type I. The correction method].

    Science.gov (United States)

    Manukian, V Iu; Bolotova, N V; Aver'ianov, A P; Filina, N Iu; Raĭgorodskiĭ, Iu M

    2011-01-01

    We assessed the state of the autonomic nervous system in 90 children with diabetes mellitus type I. The autonomic dysfunction syndrome was found in 58,9% and diabetic cardiac autonomic neuropathy in 28,9% of patients. We revealed the high risk of the development of diabetic cardiac autonomic neuropathy in children with diabetes mellitus type I in the presence of the autonomic dysfunction syndrome. It has been shown that the early treatment of functional disturbances of the autonomic nervous system using transcranial magnetic stimulation is necessary to prevent the manifestation of diabetic cardiac autonomic neuropathy.

  8. 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...

  9. 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.

  10. 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...

  11. Dynamic Optimization Algorithm for Flying Trajectory of a Free-flying Space Robot

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    A new method of dynamic optimization for the flying trajectory of a free-flying space robot based on its flying motion characteristics is presented. The continuous flying trajectory is broken into a number of segment and the control efforts and the duration of the segment are chosen as the optimization parameters. The objective function is made by using the weighted sum of the fuel used and the time spent, and the constraint equations are selected. Finally, the internal point punishment function method is adopted in the optimization program, and the results of computer simulation are given.

  12. [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

  13. 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...

  14. Settling characteristics of some Indian fly ash

    Energy Technology Data Exchange (ETDEWEB)

    Jain, M.K.; Sastry, B.S. [Indian Institute of Technology, Kharapur (India). Dept. of Mining Engineering

    2003-07-01

    The paper examines the aspects of the solid liquid separation (settling characteristics) of some of the fly ash obtained from coal-fired power plants in India. The application of a coagulating or flocculating agent (polymer) to improve the two properties as indicated is a typical industrial practice. The sources for this study comprise of fly ash, pond ash, and bottom ash and the settling characteristics are studied in conjunction with the flocculating agent polyacrylamide. 4 refs., 4 figs., 3 tabs.

  15. 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...

  16. 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.

  17. 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)).

  18. 76 FR 18419 - Movement of Hass Avocados From Areas Where Mediterranean Fruit Fly or South American Fruit Fly Exist

    Science.gov (United States)

    2011-04-04

    ... fly and that any fruit fly finds are reported to the Animal and Plant Health Inspection Service (APHIS...; ] DEPARTMENT OF AGRICULTURE Animal and Plant Health Inspection Service 7 CFR Parts 301 and 319 RIN 0579-AD34 Movement of Hass Avocados From Areas Where Mediterranean Fruit Fly or South American Fruit Fly Exist...

  19. Relativistic Tennis Using Flying Mirror

    Science.gov (United States)

    Pirozhkov, A. S.; Kando, M.; Esirkepov, T. Zh.; Ma, J.; Fukuda, Y.; Chen, L.-M.; Daito, I.; Ogura, K.; Homma, T.; Hayashi, Y.; Kotaki, H.; Sagisaka, A.; Mori, M.; Koga, J. K.; Kawachi, T.; Daido, H.; Bulanov, S. V.; Kimura, T.; Kato, Y.; Tajima, T.

    2008-06-01

    Upon reflection from a relativistic mirror, the electromagnetic pulse frequency is upshifted and the duration is shortened by the factor proportional to the relativistic gamma-factor squared due to the double Doppler effect. We present the results of the proof-of-principle experiment for frequency upshifting of the laser pulse reflected from the relativistic "flying mirror", which is a wake wave near the breaking threshold created by a strong driver pulse propagating in underdense plasma. Experimentally, the wake wave is created by a 2 TW, 76 fs Ti:S laser pulse from the JLITE-X laser system in helium plasma with the electron density of ≈4-6×1019 cm-3. The reflected signal is observed with a grazing-incidence spectrograph in 24 shots. The wavelength of the reflected radiation ranges from 7 to 14 nm, the corresponding frequency upshifting factors are ˜55-115, and the gamma-factors are y = 4-6. The reflected signal contains at least 3×107 photons/sr. This effect can be used to generate coherent high-frequency ultrashort pulses that inherit temporal shape and polarization from the original (low-frequency) ones. Apart from this, the reflected radiation contains important information about the wake wave itself, e.g. location, size, phase velocity, etc.

  20. 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...

  1. 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...

  2. 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

  3. 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

  4. 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.

  5. 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

  6. Boundedness of Formation Configuration for Nonlinear Three-body Dynamics

    Institute of Scientific and Technical Information of China (English)

    LI Peng; SONG Yongduan

    2011-01-01

    The configuration boundedness of the three-body model dynamics is studied for Sun-Earth formation flying missions. The three-body formation flying model is built up with considering the lunar gravitational acceleration and solar radiation pressure. Because traditional linearized dynamics based method has relatively lower accuracy, a modified nonlinear formation configuration analysis method is proposed in this paper. Comparative studies are carried out from three aspects, i.e., natural formation configuration with arbitrary departure time, initialization time and formation configuration boundedness, and specific initialization time for bounded formation configuration. Simulations demonstrate the differences between the two schemes,and indicate that the nonlinear dynamic method reduces the error caused by the model linearization and disturbance approximation, and thus provides higher accuracy for boundedness analysis, which is of value to initial parameters selection for natural three-body formation flying.

  7. Spatial and temporal distributions of phlebotomine sand flies (Diptera: Psychodidae), vectors of leishmaniasis, in Iran.

    Science.gov (United States)

    Karimi, Ameneh; Hanafi-Bojd, Ahmad Ali; Yaghoobi-Ershadi, Mohammad Reza; Akhavan, Amir Ahmad; Ghezelbash, Zahra

    2014-04-01

    Leishmaniasis is a major vector-borne disease and health problem in Iran. Studies on sand flies, as the vectors of the disease, began in the Northern and Western parts of the country in 1930 and have been continued up to now. Concerning many published information in the field of sand flies, providing a digital database for the country will help the public health authorities to make more correct and prompt decisions for planning leishmaniasis control programs as well as modeling and forecasting of transmission potential across the country. All published data on phlebotomine sand flies of Iran were collected. A database was then designed in Excel format, including all available information regarding sand flies. The valid data were transferred to ArcGIS9.3 to prepare the first spatial database of sand flies of Iran. The IrSandflybase includes 131 papers, 2 abstracts and 71 PhD/MSc theses, reporting studies conducted during 1930-2012. This database contains different available data covering all aspects of ecology and biology of 50 sand fly species in two genera of Phlebotomus and Sergentomyia in the country. The temporal activity of sand flies is reported 9 months in warm regions of the southern part, while it may reduce to 7-8 months in central plateau or 4-5 months in cold areas of the northwest. Occasional studies reported rare species from the borderlines of Iran. It seems that changing the climate due to global warming may affect the spatial distribution of different species and expand it into the country, the issue that can be followed by an updated database.

  8. 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.

  9. Fly ash porous material using geopolymerization process for high temperature exposure.

    Science.gov (United States)

    Abdullah, Mohd Mustafa Al Bakri; Jamaludin, Liyana; Hussin, Kamarudin; Bnhussain, Mohamed; Ghazali, Che Mohd Ruzaidi; Ahmad, Mohd Izzat

    2012-01-01

    This paper presents the results of a study on the effect of temperature on geopolymers manufactured using pozzolanic materials (fly ash). In this paper, we report on our investigation of the performance of porous geopolymers made with fly ash after exposure to temperatures from 600 °C up to 1000 °C. The research methodology consisted of pozzolanic materials (fly ash) synthesized with a mixture of sodium hydroxide and sodium silicate solution as an alkaline activator. Foaming agent solution was added to geopolymer paste. The geopolymer paste samples were cured at 60 °C for one day and the geopolymers samples were sintered from 600 °C to 1000 °C to evaluate strength loss due to thermal damage. We also studied their phase formation and microstructure. The heated geopolymers samples were tested by compressive strength after three days. The results showed that the porous geopolymers exhibited strength increases after temperature exposure.

  10. Strength Studies of Dadri Fly Ash Modified with Lime Sludge – A Composite Material

    Directory of Open Access Journals (Sweden)

    Vaishali Sahu

    2014-07-01

    Full Text Available The aim of the present work is to prepare a new type of fly ash–lime sludge composite totally composed with industrial by-products which can be utilized as road construction material. The lime sludge content was varied from 10% to 50% (at an interval of 10% and the various composites were tested for unconfined compressive strength after 7 and 28 days curing period. The mix formula of this composite was optimized based on maximum strength and equal utilization of both the by-products. The composite with optimal mix formula (fly ash/lime sludge =1:1 results in highest strength. This paper outlines the characteristics of fly ash and lime sludge, method of preparation of compaction specimen and unconfined compression test specimen, testing procedure and salient results thereof. The strength formation mechanism of this composite is discussed. This composite can be further engineered as road construction material with competitive properties.

  11. 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.

  12. [Correlation of Persistent Free Radicals, PCDD/Fs and Metals in Waste Incineration Fly Ash].

    Science.gov (United States)

    Wang, Tian-jiao; Chen, Tong; Zhan, Ming-xiu; Guo, Ying; Li, Xiao-dong

    2016-03-15

    Environmentally persistent free radicals (EPFRs) are relatively highly stable and found in the formation of polychlorinated dibenzo-p-dioxins and dibenzofurans (PCDD/Fs). Recent studies have concentrated on model dioxin formation reactions and there are few studies on actual waste incineration fly ash. In order to study EPFRs and the correlation with dioxins and heavy metals in waste incineration fly ash, the spins of EPFRs, concentration of PCDD/Fs and metals in samples from 6 different waste incinerators were detected. The medical waste incineration fly ash from Tianjin, municipal solid waste incineration fly ash from Jiangxi Province, black carbon and slag from municipal solid waste incinerator in Lanxi, Zhejiang Province, all contained EPFRs. Above all the signal in Tianjin sample was the strongest. Hydroxyl radicals, carbon-center radicals and semiquinone radicals were detected. Compared with other samples, Jiangxi fly ash had the highest toxic equivalent quantity (TEQ) of dioxins, up to 7.229 4 ng · g⁻¹. However, the dioxin concentration in the Tianjin sample containing the strongest EPFR signals was only 0.092 8 ng · g⁻¹. There was perhaps little direct numeric link between EPFRs and PCDD/Fs. But the spins of EPFRs in samples presented an increasing trend as the metal contents increased, especially with Al, Fe, Zn. The signal strength of radicals was purposed to be related to the metal contents. The concentration of Zn (0.813 7% ) in the Tianjin sample was the highest and this sample contained much more spins of oxygen-center radicals. We could presume the metal Zn had a greater effect on the formation of EPFRs, and was easier to induce the formation of radicals with a longer half-life period. PMID:27337914

  13. [Correlation of Persistent Free Radicals, PCDD/Fs and Metals in Waste Incineration Fly Ash].

    Science.gov (United States)

    Wang, Tian-jiao; Chen, Tong; Zhan, Ming-xiu; Guo, Ying; Li, Xiao-dong

    2016-03-15

    Environmentally persistent free radicals (EPFRs) are relatively highly stable and found in the formation of polychlorinated dibenzo-p-dioxins and dibenzofurans (PCDD/Fs). Recent studies have concentrated on model dioxin formation reactions and there are few studies on actual waste incineration fly ash. In order to study EPFRs and the correlation with dioxins and heavy metals in waste incineration fly ash, the spins of EPFRs, concentration of PCDD/Fs and metals in samples from 6 different waste incinerators were detected. The medical waste incineration fly ash from Tianjin, municipal solid waste incineration fly ash from Jiangxi Province, black carbon and slag from municipal solid waste incinerator in Lanxi, Zhejiang Province, all contained EPFRs. Above all the signal in Tianjin sample was the strongest. Hydroxyl radicals, carbon-center radicals and semiquinone radicals were detected. Compared with other samples, Jiangxi fly ash had the highest toxic equivalent quantity (TEQ) of dioxins, up to 7.229 4 ng · g⁻¹. However, the dioxin concentration in the Tianjin sample containing the strongest EPFR signals was only 0.092 8 ng · g⁻¹. There was perhaps little direct numeric link between EPFRs and PCDD/Fs. But the spins of EPFRs in samples presented an increasing trend as the metal contents increased, especially with Al, Fe, Zn. The signal strength of radicals was purposed to be related to the metal contents. The concentration of Zn (0.813 7% ) in the Tianjin sample was the highest and this sample contained much more spins of oxygen-center radicals. We could presume the metal Zn had a greater effect on the formation of EPFRs, and was easier to induce the formation of radicals with a longer half-life period.

  14. Flagellin FliC Phosphorylation Affects Type 2 Protease Secretion and Biofilm Dispersal in Pseudomonas aeruginosa PAO1

    Science.gov (United States)

    Suriyanarayanan, Tanujaa; Periasamy, Saravanan; Lin, Miao-Hsia; Ishihama, Yasushi; Swarup, Sanjay

    2016-01-01

    Protein phosphorylation has a major role in controlling the life-cycle and infection stages of bacteria. Proteome-wide occurrence of S/T/Y phosphorylation has been reported for many prokaryotic systems. Previously, we reported the phosphoproteome of Pseudomonas aeruginosa and Pseudomonas putida. In this study, we show the role of S/T phosphorylation of one motility protein, FliC, in regulating multiple surface-associated phenomena of P. aeruginosa PAO1. This is the first report of occurrence of phosphorylation in the flagellar protein, flagellin FliC in its highly conserved N-terminal NDO domain across several Gram negative bacteria. This phosphorylation is likely a well-regulated phenomenon as it is growth phase dependent in planktonic cells. The absence of phosphorylation in the conserved T27 and S28 residues of FliC, interestingly, did not affect swimming motility, but affected the secretome of type 2 secretion system (T2SS) and biofilm formation of PAO1. FliC phosphomutants had increased levels and activities of type 2 secretome proteins. The secretion efficiency of T2SS machinery is associated with flagellin phosphorylation. FliC phosphomutants also formed reduced biofilms at 24 h under static conditions and had delayed biofilm dispersal under dynamic flow conditions, respectively. The levels of type 2 secretome and biofilm formation under static conditions had an inverse correlation. Hence, increase in type 2 secretome levels was accompanied by reduced biofilm formation in the FliC phosphomutants. As T2SS is involved in nutrient acquisition and biofilm dispersal during survival and spread of P. aeruginosa, we propose that FliC phosphorylation has a role in ecological adaptation of this opportunistic environmental pathogen. Altogether, we found a system of phosphorylation that affects key surface related processes such as proteases secretion by T2SS, biofilm formation and dispersal. PMID:27701473

  15. 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.

  16. Leaching characteristics of toxic constituents from coal fly ash mixed soils under the influence of pH

    International Nuclear Information System (INIS)

    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

  17. Cutaneous autonomic denervation in Parkinson's disease.

    Science.gov (United States)

    Navarro-Otano, Judith; Casanova-Mollà, Jordi; Morales, Merche; Valls-Solé, Josep; Tolosa, Eduard

    2015-08-01

    Numerous studies have detailed involvement of the peripheral autonomic nervous system (PANS) in Parkinson's disease (PD). We assessed autonomic innervation of dermal annexes through quantitative fluorescence measurement from skin obtained via punch biopsies at distal leg region in PD and control subjects. We defined a ratio between the area corresponding to protein gen product (PGP) immunoreactivity and the area corresponding to blood vessel or sweat gland as a quantitative measure of autonomic innervation. Presence of alpha-synuclein (AS) deposits in dermis and hypodermis was also assessed by immunohistochemistry. Skin biopsies form six PD patients and six healthy controls were studied. Autonomic innervation scores were lower in PD than in controls in both blood vessels and sweat glands. No AS or phosphorylated AS (pAS) immunoreactivity was detected in dermis or hypodermis in any of the studied subjects. The results of this investigation suggest that autonomic innervation of dermal annexes in living patients with PD is reduced compared to controls. AS or pAS deposits were not found in dermis or hypodermis suggesting that distal leg skin study is not useful for in vivo detection of AS in PD.

  18. Cardiovascular autonomic dysfunction in Parkinson's disease.

    Science.gov (United States)

    Ziemssen, Tjalf; Reichmann, Heinz

    2010-02-15

    Symptoms of cardiovascular dysautonomia are a common occurrence in Parkinson's disease (PD). In addition to this dysautonomia as part of PD itself, dysfunction of the autonomic nervous system (ANS) can be triggered as a side-effect of drug treatment interacting with the ANS or - if prominent and early - an indication of a different disease such as multiple system atrophy (MSA). Various diagnostic tests are available to demonstrate autonomic failure. While autonomic function tests can differentiate parasympathetic from sympathetic dysfunction, cardiac imaging can define the pathophysiologically involved site of a lesion. Standard tests such as 24-h ambulatory blood pressure measurements can identify significant autonomic failure which needs treatment. The most frequent and disturbing symptom of cardiovascular autonomic dysfunction is orthostatic hypotension. Symptoms include generalized weakness, light-headiness, mental "clouding" up to syncope. Factors like heat, food, alcohol, exercise, activities which increase intrathoraric pressure (e.g. defecation, coughing) and certain drugs (e.g. vasodilators) can worsen a probably asymptomatic orthostatic hypotension. Non-medical and medical therapies can help the patient to cope with a disabling symptomatic orthostatic hypotension. Supine hypertension is often associated with orthostatic hypotension. The prognostic role of cardiovagal and baroreflex dysfunction is still not yet known.

  19. 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.

  20. Interaction of feel system and flight control system dynamics on lateral flying qualities

    Science.gov (United States)

    Bailey, R. E.; Knotts, L. H.

    1990-01-01

    An experimental investigation of the influence of lateral feel system characteristics on fighter aircraft roll flying qualities was conducted using the variable stability USAF NT-33. Forty-two evaluation flights were flown by three engineering test pilots. The investigation utilized the power approach, visual landing task and up-and-away tasks including formation, gun tracking, and computer-generated compensatory attitude tracking tasks displayed on the Head-Up Display. Experimental variations included the feel system frequency, force-deflection gradient, control system command type (force or position input command), aircraft roll mode time constant, control system prefilter frequency, and control system time delay. The primary data were task performance records and evaluation pilot comments and ratings using the Cooper-Harper scale. The data highlight the unique and powerful effect of the feel system of flying qualities. The data show that the feel system is not 'equivalent' in flying qualities influence to analogous control system elements. A lower limit of allowable feel system frequency appears warranted to ensure good lateral flying qualities. Flying qualities criteria should most properly treat the feel system dynamic influence separately from the control system, since the input and output of this dynamic element is apparent to the pilot and thus, does not produce a 'hidden' effect.

  1. Immunogenicity and protective efficacy of recombinant Clostridium difficile flagellar protein FliC

    Science.gov (United States)

    Ghose, Chandrabali; Eugenis, Ioannis; Sun, Xingmin; Edwards, Adrianne N; McBride, Shonna M; Pride, David T; Kelly, Ciarán P; Ho, David D

    2016-01-01

    Clostridium difficile is a Gram-positive bacillus and is the leading cause of toxin-mediated nosocomial diarrhea following antibiotic use. C. difficile flagella play a role in colonization, adherence, biofilm formation, and toxin production, which might contribute to the overall virulence of certain strains. Human and animal studies indicate that anti-flagella immune responses may play a role in protection against colonization by C. difficile and subsequent disease outcome. Here we report that recombinant C. difficile flagellin (FliC) is immunogenic and protective in a murine model of C. difficile infection (CDI) against a clinical C. difficile strain, UK1. Passive protection experiments using anti-FliC polyclonal serum in mice suggest this protection to be antibody-mediated. FliC immunization also was able to afford partial protection against CDI and death in hamsters following challenge with C. difficile 630Δerm. Additionally, immunization against FliC does not have an adverse effect on the normal gut flora of vaccinated hamsters as evidenced by comparing the fecal microbiome of vaccinated and control hamsters. Therefore, the use of FliC as a vaccine candidate against CDI warrants further testing. PMID:26839147

  2. Oral and Topical Toxicity of Fipronil to Melon Fly and Oriental Fruit Fly (Diptera: Tephritidae)

    Science.gov (United States)

    BACKGROUND: The objective of this study was to develop basic oral and topical toxicity data for Fipronil in Solulys protein bait to wild melon fly, Bactrocera cucurbitae (Coquillett) and the oriental fruit fly, Bactrocera dorsalis (Hendel). RESULTS: For the oral study, both females and males were ...

  3. Expression of defensin paralogs across house fly life history: insights into fly-microbe interactions

    Science.gov (United States)

    House flies have a life-long association with microbe-rich environments. Larvae directly ingest bacteria in decaying substrates utilizing them for nutritional purposes. Adult house flies ephemerally associate with microbes, ingesting them either by direct feeding or indirectly during grooming. The h...

  4. An overview of quarantine for fruit flies

    International Nuclear Information System (INIS)

    What is meant by 'quarantine for fruit flies'? The Collins dictionary describes 'quarantine' as a period of isolation or detention, especially of persons or animals arriving from abroad, to prevent the spread of disease. In providing an overview of quarantine for fruit flies, a broader definition needs to be applied, that is, the combination of activities required to maintain the fruit fly status of a particular geographical area - perhaps better referred to as a 'quarantine system'. Familiarity with New Zealand's quarantine system for fruit flies (Diptera: Tephritidae) provides a useful basis for subsequent comparison with other countries' systems where some fruit fly species may be present. But, why have 'quarantine for fruit flies'? The multivoltine life history of many species. combined with a relatively long-lived adult stage and highly fecund females, results in a high potential for rapid population increase (Bateman 1979, Fletcher 1987). These factors and the close association of fruit flies with harvested fruit or vegetables explain the high quarantine profile of these insects. However, there is no international requirement for a country to have a quarantine system and unless there are natural quarantine barriers (e.g., mountain range, oceans, deserts) that can be utilised, effective quarantine by an individual country may be an impossible task. The implementation of a successful quarantine system is very expensive and therefore, it would be expected that any benefits attained outweigh the costs (Ivess 1998). Ivess (1998) listed the following benefits from the implementation of an effective quarantine system: minimising production costs (including post harvest treatments), maintaining competitive advantages for market access due to the ongoing freedom from particular pests of quarantine significance, an environment free from many pests harmful to plant health, the maintenance of ecosystems

  5. PCDF formation from PAH reactions

    Energy Technology Data Exchange (ETDEWEB)

    Fullana, A.; Nakka, H.; Sidhu, S. [Dayton Univ., OH (United States). Environmental Engineering

    2004-09-15

    It is clear that PAHs play an important role in PCDF formation. It does not matter if PCDF are formed from carbonaceous material or from PAH adsorbed on the carbon surface. The role of PAH in the formation of PCDF has been studied by several authors. Probably one of the most complete investigations was conducted by Wilhelm et al. They investigated PCDF formation from twelve different PAHs with structures similar to the PCDF. The results of this study showed that biphenyl-like structures can be easily converted to PCDFs. Although the biphenyl-like structures are clearly involved in PCDF formation, there are several aspects of this formation pathway that are not well understood. Iino et al. found that higher PCDF yields could be obtained from pyrene than phenanthrene, contradicting biphenyl intermediate formation pathway theory as phenantrene structure can more easily be converted to biphenyl than pyrene. All previous PCDD/F formation studies from PAHs were conducted using CuCl{sub 2} as model fly ash. CuCl{sub 2} is highly volatile and probably not present in any significant quantities in the actual fly ash. High temperature oxidative conditions in the high temperature zone are able to oxidize all transition metals to their oxides. Therefore, Cu in actual fly ash is most probably present as CuO or Cu2O. Also in previous studies, PAH - model fly ash mixtures were prepared at room temperature and then heated to experimental temperatures. This experimental method can lead to some uncertainties because depending on PAH boiling point, various amounts of different PAHS would have evaporated by the time experimental temperatures were achieved. The main objective of this study is to address all the above issues and develop a better understanding of the role of biphenyl structures in PCDF formation. The salient features of this study are: Use of CuO+HCl as model fly ash instead of CuCl{sub 2} which was traditionally used in earlier De Novo studies. Study major non

  6. Zebrafish model of tuberous sclerosis complex reveals cell-autonomous and non-cell-autonomous functions of mutant tuberin

    Directory of Open Access Journals (Sweden)

    Seok-Hyung Kim

    2011-03-01

    Tuberous sclerosis complex (TSC is an autosomal dominant disease caused by mutations in either the TSC1 (encodes hamartin or TSC2 (encodes tuberin genes. Patients with TSC have hamartomas in various organs throughout the whole body, most notably in the brain, skin, eye, heart, kidney and lung. To study the development of hamartomas, we generated a zebrafish model of TSC featuring a nonsense mutation (vu242 in the tsc2 gene. This tsc2vu242 allele encodes a truncated Tuberin protein lacking the GAP domain, which is required for inhibition of Rheb and of the TOR kinase within TORC1. We show that tsc2vu242 is a recessive larval-lethal mutation that causes increased cell size in the brain and liver. Greatly elevated TORC1 signaling is observed in tsc2vu242/vu242 homozygous zebrafish, and is moderately increased in tsc2vu242/+ heterozygotes. Forebrain neurons are poorly organized in tsc2vu242/vu242 homozygous mutants, which have extensive gray and white matter disorganization and ectopically positioned cells. Genetic mosaic analyses demonstrate that tsc2 limits TORC1 signaling in a cell-autonomous manner. However, in chimeric animals, tsc2vu242/vu242 mutant cells also mislocalize wild-type host cells in the forebrain in a non-cell-autonomous manner. These results demonstrate a highly conserved role of tsc2 in zebrafish and establish a new animal model for studies of TSC. The finding of a non-cell-autonomous function of mutant cells might help explain the formation of brain hamartomas and cortical malformations in human TSC.

  7. Elements of Autonomous Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan

    In this thesis, we study several central elements of autonomous self-reconfigurable modular robots. Unlike conventional robots such robots are: i) Modular, since robots are assembled from numerous robotic modules. ii) Reconfigurable, since the modules can be combined in a variety of ways. iii) Self......-reconfigurable, since the modules themselves are able to change how they are combined. iv) Autonomous, since robots control themselves without human guidance. Such robots are attractive to study since they in theory have several desirable characteristics, such as versatility, reliability and cheapness. In practice...... however, it is challenging to realize such characteristics since state-of-the-art systems and solutions suffer from several inherent technical and theoretical problems and limitations. In this thesis, we address these challenges by exploring four central elements of autonomous self-reconfigurable modular...

  8. A Collaborative Knowledge Plane for Autonomic Networks

    Science.gov (United States)

    Mbaye, Maïssa; Krief, Francine

    Autonomic networking aims to give network components self-managing capabilities. Several autonomic architectures have been proposed. Each of these architectures includes sort of a knowledge plane which is very important to mimic an autonomic behavior. Knowledge plane has a central role for self-functions by providing suitable knowledge to equipment and needs to learn new strategies for more accuracy.However, defining knowledge plane's architecture is still a challenge for researchers. Specially, defining the way cognitive supports interact each other in knowledge plane and implementing them. Decision making process depends on these interactions between reasoning and learning parts of knowledge plane. In this paper we propose a knowledge plane's architecture based on machine learning (inductive logic programming) paradigm and situated view to deal with distributed environment. This architecture is focused on two self-functions that include all other self-functions: self-adaptation and self-organization. Study cases are given and implemented.

  9. An Autonomous Reference Frame for Relativistic GNSS

    CERN Document Server

    Kostić, Uroš; Carloni, Sante; Delva, Pacôme; Gomboc, Andreja

    2014-01-01

    Current GNSS systems rely on global reference frames which are fixed to the Earth (via the ground stations) so their precision and stability in time are limited by our knowledge of the Earth dynamics. These drawbacks could be avoided by giving to the constellation of satellites the possibility of constituting by itself a primary and autonomous positioning system, without any a priori realization of a terrestrial reference frame. Our work shows that it is possible to construct such a system, an Autonomous Basis of Coordinates, via emission coordinates. Here we present the idea of the Autonomous Basis of Coordinates and its implementation in the perturbed space-time of Earth, where the motion of satellites, light propagation, and gravitational perturbations are treated in the formalism of general relativity.

  10. Autonomic dysfunction in chronic liver disease

    Directory of Open Access Journals (Sweden)

    Frith J

    2011-08-01

    Full Text Available James Frith, Julia L NewtonNIHR Biomedical Research Centre in Ageing, Institute for Ageing and Health, Newcastle University, Newcastle, UKAbstract: It is becoming increasingly clear that quality of life (QOL is impaired in those with chronic liver disease (CLD. One of the most important contributors to impaired QOL is the symptomatic burden which can range from slight to debilitating. Autonomic dysfunction accounts for a significant proportion of these symptoms, which can be common, non-specific and challenging to treat. Investigating the autonomic nervous system can be straight forward and can assist the clinician to diagnose and treat specific symptoms. Evidence-based treatment options for autonomic symptoms, specifically in CLD, can be lacking and must be extrapolated from other studies and expert opinion. For those with severely impaired quality of life, liver transplantation may offer an improvement; however, more research is needed to confirm this.Keywords: quality of life, treatment, fatigue, angiotensin II

  11. Enhanced mission performance from autonomous instrument guidance

    DEFF Research Database (Denmark)

    Jørgensen, John Leif; Jørgensen, Peter Siegbjørn; Betto, Maurizio;

    2006-01-01

    During the last decade improvements in electronics, on-board processing power and software design has lead to significant advances in the development of autonomous instrumentation for spacecraft use. The Advanced Stellar Compass (ASC) and the newly developed micro-ASC (mu ASC) are excellent...... and power consumption makes the mu ASC an ideal instrument for small, high yielding satellite missions. The ASC has hitherto been used by the satellite AOCS and the high accuracy scientific instrument for attitude recovery (among others onboard ORSTED, CHAMP, and GRACE), and satellite high accuracy target...... acquisition and pointing (PROBA). Here three applications of the mu ASC as an autonomous onboard precision guide for precision vector instrumentation are presented. These are autonomous onboard antenna guidance, telescope guidance and tracking and high accuracy and wide range laser rangers....

  12. Autonomous driving technical, legal and social aspects

    CERN Document Server

    Gerdes, J; Lenz, Barbara; Winner, Hermann

    2016-01-01

    This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the auth...

  13. Autonomous forward inference via DNA computing

    Institute of Scientific and Technical Information of China (English)

    Fu Yan; Li Gen; Li Yin; Meng Dazhi

    2007-01-01

    Recent studies direct the researchers into building DNA computing machines with intelligence, which is measured by three main points: autonomous, programmable and able to learn and adapt. Logical inference plays an important role in programmable information processing or computing. Here we present a new method to perform autonomous molecular forward inference for expert system.A novel repetitive recognition site (RRS) technique is invented to design rule-molecules in knowledge base. The inference engine runs autonomously by digesting the rule-molecule, using a Class ⅡB restriction enzyme PpiⅠ. Concentration model has been built to show the feasibility of the inference process under ideal chemical reaction conditions. Moreover, we extend to implement a triggering communication between molecular automata, as a further application of the RRS technique in our model.

  14. Technology readiness level six and autonomous mobility

    Science.gov (United States)

    Bodt, Barry A.; Camden, Rick S.

    2004-09-01

    During FY03, the U.S. Army Research Laboratory undertook a series of experiments designed to assess the maturity of autonomous mobility technology for the Future Combat Systems Armed Robotic Vehicle concept. The experiments assessed the technology against a level 6 standard in the technology readiness level (TRL) maturation schedule identified by a 1999 Government Accounting Office report. During the course of experimentation, 646 missions were conducted over a total distance of ~560 km and time of ~100 hr. Autonomous operation represented 96% and 88% of total distance and time, respectively. To satisfy the TRL 6 "relevant environment" standard, several experimental factors were varied over the three-site test as part of a formal, statistical, experimental design. This paper reports the specific findings pertaining to relevant-environment questions that were posed for the study and lends additional support to the Lead System Integrator decision that TRL 6 has been attained for the autonomous navigation system.

  15. Blood pressure regulation in diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1985-01-01

    Defective blood pressure responses to standing, exercise and epinephrine infusions have been demonstrated in diabetic patients with autonomic neuropathy. The circulatory mechanisms underlying blood pressure responses to exercise and standing up in these patients are well characterized: In both...... experimental situations insufficient contraction of resistance vessels has been demonstrated. The vasoconstrictor defects demonstrated are of a magnitude sufficient to account for the prevailing hypotension. Furthermore, during exercise cardiac output is low in patients with autonomic neuropathy, a finding...... which may contribute to exercise hypotension in these patients. During hypoglycemia, blood pressure regulation seems intact in patients with autonomic neuropathy. This is probably due to release of substantial amounts of catecholamines during these experiments. During epinephrine infusions a substantial...

  16. 宁夏中奥陶统香山群徐家圈组内波、内潮汐沉积类型%Sedimentary Types of Internal-wave and Internal-tide Deposits of Middle Ordovician,Xujiajuan Formation,Xiangshan Group, Ningxia Autonomous Region,China

    Institute of Scientific and Technical Information of China (English)

    李向东; 何幼斌; 张铭记; 刘训; 姚建新

    2011-01-01

    The study of internal-wave and internal-tide deposits is a very young research field with twenty years of history in the deep-water deposition,and there is no study on its sedimentary types.Here,we forcus on the internal-wave and internal-tide deposits developed in Xujiajuan Formation,Xiangshan Group,Ningxia Autonomous Region and describe related sedimentary structures in detail.We interpret combined-flow-ripple lamination and the cross beddings with undulatory laminations,offshooting laminations and cross-laminated lenses as combined-flow and oscillatory flow generated by short-period internal waves respectively.According to these new interpretations and the interpretations of deep-water bidirectional cross-beddings and unidirectional cross-beddings in literatures,we attribute internal-wave and internal-tide deposits to short-period internal-wave deposits,internal-tide deposits and interaction internal-wave deposits.Here,we use internal-wave and internal-tide deposits instead of internal-wave deposits because of the special origin and research status of internal tides.%内波、内潮汐沉积是深水沉积研究中一个非常年轻的研究领域,自发现到现在仅仅20年时间,对其沉积类型的研究目前尚未涉及。以宁夏香山群徐家圈组中的内波、内潮汐沉积为对象,详细描述了深水环境中形成的双向交错层理、单向交错层理、复合流层理及具有波状纹层、束状纹层和交错纹层透镜体的交错层理,并探讨了其成因机制,识别出了短周期内波沉积。在此基础之上,结合已有的内波、内潮汐沉积鉴别标志,从沉积构造的角度对内波、内潮汐沉积类型进行了探讨。将内波、内潮汐沉积分为短周期内波沉积、内潮汐沉积和叠加内波沉积。鉴于内潮汐形成机制的独特性和海洋物理学中内波的研究现状,三者仍统称为内波、内潮汐沉积。

  17. Equilibrium analysis of the efficiency of an autonomous molecular computer

    Science.gov (United States)

    Rose, John A.; Deaton, Russell J.; Hagiya, Masami; Suyama, Akira

    2002-02-01

    In the whiplash polymerase chain reaction (WPCR), autonomous molecular computation is implemented in vitro by the recursive, self-directed polymerase extension of a mixture of DNA hairpins. Although computational efficiency is known to be reduced by a tendency for DNAs to self-inhibit by backhybridization, both the magnitude of this effect and its dependence on the reaction conditions have remained open questions. In this paper, the impact of backhybridization on WPCR efficiency is addressed by modeling the recursive extension of each strand as a Markov chain. The extension efficiency per effective polymerase-DNA encounter is then estimated within the framework of a statistical thermodynamic model. Model predictions are shown to provide close agreement with the premature halting of computation reported in a recent in vitro WPCR implementation, a particularly significant result, given that backhybridization had been discounted as the dominant error process. The scaling behavior further indicates completion times to be sufficiently long to render WPCR-based massive parallelism infeasible. A modified architecture, PNA-mediated WPCR (PWPCR) is then proposed in which the occupancy of backhybridized hairpins is reduced by targeted PNA2/DNA triplex formation. The efficiency of PWPCR is discussed using a modified form of the model developed for WPCR. Predictions indicate the PWPCR efficiency is sufficient to allow the implementation of autonomous molecular computation on a massive scale.

  18. Connecting orbits of autonomous Lagrangian systems

    International Nuclear Information System (INIS)

    In contrast to the time-dependent case, the time-t-section of Mañé set of autonomous Lagrangian systems is independent of time, thus, it is nowhere disconnected. This causes some difference in the study of dynamics, for instance, Mather's c-equivalence cannot exist among different cohomology classes if they are not in a flat of the α-function (cf (Bernard 2002 Ann. Inst. Fourier 52 1533–68.)). In this paper, we show how to construct connecting orbits in autonomous systems, and propose a modified notion of c-equivalence. We also apply the result to construct diffusion orbits in an energy surface

  19. Dynamic biomaterials: toward engineering autonomous feedback.

    Science.gov (United States)

    Morris, Eliza; Chavez, Michael; Tan, Cheemeng

    2016-06-01

    Dynamic biomaterials are biocompatible engineered systems capable of sensing and actively responding to their surrounding environment. They are of growing interest, both as models in basic research to understand complex cellular systems and in medical applications. Here, we review recent advances in nano-scale and micro-scale biomaterials, specifically artificial cells consisting of compartmentalized biochemical reactions and biologically compatible hydrogels. These dynamic biomaterials respond to stimuli through triggered reactions, reaction cascades, logic gates, and autonomous feedback loops. We outline the advances and remaining challenges in implementing such 'smart' biomaterials capable of autonomously responding to environmental stimuli. PMID:26974245

  20. Advanced control architecture for autonomous vehicles

    Science.gov (United States)

    Maurer, Markus; Dickmanns, Ernst D.

    1997-06-01

    An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.