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Sample records for autonomous marine hybrid

  1. THE USE OF GENETIC ALGORITHM IN DIMENSIONING HYBRID AUTONOMOUS SYSTEMS

    Directory of Open Access Journals (Sweden)

    RUS T.

    2016-03-01

    Full Text Available In this paper is presented the working principle of genetic algorithms used to dimension autonomous hybrid systems. It is presented a study case in which is dimensioned and optimized an autonomous hybrid system for a residential house located in Cluj-Napoca. After the autonomous hybrid system optimization is performed, it is achieved a reduction of the total cost of system investment, a reduction of energy produced in excess and a reduction of CO2 emissions.

  2. Analysis of a novel autonomous marine hybrid power generation/energy storage system with a high-voltage direct current link

    DEFF Research Database (Denmark)

    Wang, L.; Lee, D. J.; Lee, W. J.;

    2008-01-01

    wind turbines andWells turbines to respectively capture wind energy and wave energy from marine wind and oceanwave. In addition to wind-turbine generators(WTGs) andwave-energy turbine generators (WETGs) employed in the studied system, diesel-engine generators (DEGs) and an aqua electrolyzer (AE...

  3. Proceedings 4th Workshop on Hybrid Autonomous Systems

    OpenAIRE

    Bujorianu, Manuela; Wisniewski, Rafael

    2015-01-01

    The interest in autonomous systems is increasing both in industry and academia. Such systems must operate with limited human intervention in a changing environment and must be able to compensate for significant system failures without external intervention. The most appropriate models of autonomous systems can be found in the class of hybrid systems that interact with their environment. This workshop brings together researchers interested in all aspects of autonomy and resilience of hybrid sy...

  4. Autonomous Job Analysis: A Method for Design of Autonomous Marine Operations

    OpenAIRE

    Grøtli, Esten Ingar; Vagia, Marialena; Fjerdingen, Sigurd Aksnes; Bjerkeng, Magnus Christian; Transeth, Aksel Andreas; Svendsen, Eirik; Rundtop, Per

    2016-01-01

    Increased use of autonomy is considered crucial for continued growth in maritime industries like oil- and gas, waterborne transport, and fisheries- and aquaculture. This article presents a method called Autonomous Job Analysis (AJA), which purpose is to guide the design of autonomous marine operations. AJA breaks down the operation, and focuses on autonomy early in the design phase. The method uses elements from Hierarchical Task Analysis (HTA), and the execution of the analysis is influen...

  5. Autonomous Weapon Systems and Risk Management in Hybrid Networks

    DEFF Research Database (Denmark)

    Nørgaard, Katrine

    . The central point of contention is the transfer of decision authority and the attribution of responsibility in cooperative networks of humans and machines with autonomous functions. As a response to the ‘legal irritation’ of hybrid networks, a new type of ‘hybrid law’ has emerged, mediating different regimes...

  6. Proceedings Third International Workshop on Hybrid Autonomous Systems

    OpenAIRE

    Bortolussi, Luca; Bujorianu, Manuela L.; Pola, Giordano

    2013-01-01

    The interest on autonomous systems is increasing both in industry and academia. Such systems must operate with limited human intervention in a changing environment and must be able to compensate for significant system failures without external intervention. The most appropriate models of autonomous systems can be found in the class of hybrid systems (which study continuous-state dynamic processes via discrete-state controllers) that interact with their environment. This workshop brings togeth...

  7. Modeling of Hybrid Marine Electric Propulsion Systems

    OpenAIRE

    Gåsemyr, Øyvind Rønneberg

    2014-01-01

    Energy storage devices integrated in diesel-electric power systems is believed to have impact also in marine applications, when it comes to emissions and fuel efficiency. For certain load conditions energy storage can act as load buffers which will decrease the load variations on the generator sets, hence optimizing the operation when is comes to emissions and fuel efficiency.In this context this thesis is aimed at development of simulation tools for hybrid marine electric propulsion systems....

  8. AUTONOMOUS UNDERWATER HYBRID VEHICLE FOR OCEAN SURVEILLANCE

    Directory of Open Access Journals (Sweden)

    KIRUBAKARAN.S,

    2011-05-01

    Full Text Available Coastal areas are among the most vulnerable of all regions to global climate change. Projected impacts from global warming include rising sea levels, intensification of tropical cyclones, larger storm surges, increasing sea-surface temperatures, and – as the oceans absorb more of the carbon dioxide human activities emit to theatmosphere – growing acidification of surface waters. With an estimated 50 per cent of the world’s population now living within 60km of the coast and 60 per cent of cities with population over 5 million located within 100 km of the coast, the Potential impacts of climate change on coastal development and infrastructure is considerable. On-going development has manifested in the form of urban centers, tourist resorts, ports and Industrial areas. The rising sea levels and larger storm surges caused by climate change Threaten to compound such risks. In order to understand the Ocean systems, continuous time series Observation is essential and development of innovative Autonomous Underwater Vehicle (AUV with suite of sensors would be very useful.

  9. Autonomous Operation of Hybrid Microgrid With AC and DC Subgrids

    DEFF Research Database (Denmark)

    Chiang Loh, Poh; Li, Ding; Kang Chai, Yi;

    2013-01-01

    This paper investigates on power-sharing issues of an autonomous hybrid microgrid. Unlike existing microgrids which are purely ac, the hybrid microgrid studied here comprises dc and ac subgrids interconnected by power electronic interfaces. The main challenge here is to manage power flows among all...... sources distributed throughout the two types of subgrids, which is certainly tougher than previous efforts developed for only ac or dc microgrid. This wider scope of control has not yet been investigated, and would certainly rely on the coordinated operation of dc sources, ac sources, and interlinking...

  10. Autonomic Management of Application Workflows on Hybrid Computing Infrastructure

    Directory of Open Access Journals (Sweden)

    Hyunjoo Kim

    2011-01-01

    Full Text Available In this paper, we present a programming and runtime framework that enables the autonomic management of complex application workflows on hybrid computing infrastructures. The framework is designed to address system and application heterogeneity and dynamics to ensure that application objectives and constraints are satisfied. The need for such autonomic system and application management is becoming critical as computing infrastructures become increasingly heterogeneous, integrating different classes of resources from high-end HPC systems to commodity clusters and clouds. For example, the framework presented in this paper can be used to provision the appropriate mix of resources based on application requirements and constraints. The framework also monitors the system/application state and adapts the application and/or resources to respond to changing requirements or environment. To demonstrate the operation of the framework and to evaluate its ability, we employ a workflow used to characterize an oil reservoir executing on a hybrid infrastructure composed of TeraGrid nodes and Amazon EC2 instances of various types. Specifically, we show how different applications objectives such as acceleration, conservation and resilience can be effectively achieved while satisfying deadline and budget constraints, using an appropriate mix of dynamically provisioned resources. Our evaluations also demonstrate that public clouds can be used to complement and reinforce the scheduling and usage of traditional high performance computing infrastructure.

  11. Hybrid Method Simulation of Slender Marine Structures

    DEFF Research Database (Denmark)

    Christiansen, Niels Hørbye

    This present thesis consists of an extended summary and five appended papers concerning various aspects of the implementation of a hybrid method which combines classical simulation methods and artificial neural networks. The thesis covers three main topics. Common for all these topics...... only recognize patterns similar to those comprised in the data used to train the network. Fatigue life evaluation of marine structures often considers simulations of more than a hundred different sea states. Hence, in order for this method to be useful, the training data must be arranged so...... that a single neural network can cover all relevant sea states. The applicability and performance of the present hybrid method is demonstrated on a numerical model of a mooring line attached to a floating offshore platform. The second part of the thesis demonstrates how sequential neural networks can be used...

  12. Marine genetic swamping: hybrids replace an obligately estuarine fish.

    Science.gov (United States)

    Roberts, David G; Gray, Charles A; West, Ronald J; Ayre, David J

    2010-02-01

    Populations of obligately estuarine taxa are potentially small and isolated and may lack genetic variation and display regional differentiation as a result of drift and inbreeding. Hybridization with a wide-ranging marine congener should introduce genetic variation and reduce the effects of inbreeding depression and genetic drift. However, high levels of hybridization can cause demographic and genetic swamping. In southeastern Australia hybridization occurs between obligately estuarine Black bream (Acanthopagrus butcheri) and migratory marine Yellowfin bream (Acanthopagrus australis). Here, we surveyed genetic variation at eight microsatellite loci and the mitochondrial control region of juvenile fish from five coastal lagoons (including temporal replication in two lagoons) (total n = 970) to determine the frequency and persistence of hybridization, and its likely consequence for the estuarine restricted A. butcheri. Of 688 juvenile fish genotyped 95% were either A. australis (347) or hybrids (309); only 5% (32) were A. butcheri. Most hybrids were later generation hybrids or A. butcheri backcrosses, which are likely multi-generational residents within lagoons. Far greater proportions of hybrid juveniles were found within two lagoons that are generally closed to the ocean (>90% hybrid fish within generally closed lagoons vs. 12-27% in permanently or intermittently open lagoons). In both lagoons, this was consistent across multiple cohorts of fish [79-97% hybrid fish (n = 282)]. Hybridization and introgression represent a major threat to the persistence of A. butcheri and have yet to be investigated for large numbers of estuarine taxa.

  13. Autonomous operation of hybrid AC-DC microgrids with progressive energy flow tuning

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Li, Ding; Chai, Yi Kang;

    2012-01-01

    accompanied losses. Hybrid microgrids are therefore more efficient with a control scheme now proposed for controlling them. The scheme allows the hybrid microgrids to operate autonomously without fast communication links, while yet maintaining high efficiency through progressive energy flow tuning....... Experimental testing has already been performed with results presented in a later section for verifying the control concepts discussed.......Modern distributed sources can either be ac or dc. It is thus possible to form hybrid microgrids with ac and dc sub-grids inter-tied by power converters. The resulting hybrid architecture allows loads to be flexibly placed so as to minimize the amount of energy conversion needed and hence its...

  14. An intelligent hybrid behavior coordination system for an autonomous mobile robot

    Science.gov (United States)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Fallouh, Samer

    2013-12-01

    In this paper, development of a low-cost PID controller with an intelligent behavior coordination system for an autonomous mobile robot is described that is equipped with IR sensors, ultrasonic sensors, regulator, and RC filters on the robot platform based on HCS12 microcontroller and embedded systems. A novel hybrid PID controller and behavior coordination system is developed for wall-following navigation and obstacle avoidance of an autonomous mobile robot. Adaptive control used in this robot is a hybrid PID algorithm associated with template and behavior coordination models. Software development contains motor control, behavior coordination intelligent system and sensor fusion. In addition, the module-based programming technique is adopted to improve the efficiency of integrating the hybrid PID and template as well as behavior coordination model algorithms. The hybrid model is developed to synthesize PID control algorithms, template and behavior coordination technique for wall-following navigation with obstacle avoidance systems. The motor control, obstacle avoidance, and wall-following navigation algorithms are developed to propel and steer the autonomous mobile robot. Experiments validate how this PID controller and behavior coordination system directs an autonomous mobile robot to perform wall-following navigation with obstacle avoidance. Hardware configuration and module-based technique are described in this paper. Experimental results demonstrate that the robot is successfully capable of being guided by the hybrid PID controller and behavior coordination system for wall-following navigation with obstacle avoidance.

  15. Design and Evaluation of Autonomous Hybrid Frequency-Voltage Sensitive Load Controller

    DEFF Research Database (Denmark)

    Douglass, Philip James; Garcia-Valle, Rodrigo; Sossan, Fabrizio;

    2013-01-01

    The paper introduces an algorithm for control of autonomous loads without digital communication interfaces to provide both frequency regulation and voltage regulation services. This hybrid controller can be used to enhance frequency sensitive loads to mitigate line overload arising from reduced...

  16. On battery-less autonomous polygeneration microgrids: Investigation of the combined hybrid capacitors/hydrogen alternative

    International Nuclear Information System (INIS)

    Highlights: • A battery-less autonomous polygeneration microgrid is technically feasible. • Laboratory testing of hybrid capacitors. • Investigation of hybrid capacitors utilization along with hydrogen subsystem. - Abstract: The autonomous polygeneration microgrid topology aims to cover holistically the needs in remote areas as far as electrical power, potable water through desalination, fuel for transportation in the form of hydrogen, heating and cooling are concerned. Deep discharge lead acid batteries are mostly used in such systems, associated with specific disadvantages, both technical and environmental. This paper investigated the possibility of replacing the battery bank from a polygeneration microgrid with a hybrid capacitor bank and more intensive utilization of a hydrogen subsystem. Initially commercial hybrid capacitors were tested under laboratory conditions and based on the respective results a case study was performed. The optimized combination of hybrid capacitors and higher hydrogen usage was then investigated through simulations and compared to a polygeneration microgrid featuring deep discharge lead acid batteries. From the results it was clear that it is technically possible to exchange the battery bank with a hybrid capacitor bank and higher hydrogen utilization. From the economic point of view, the current cost of the hybrid capacitors and the hydrogen components is high which leads to higher overall cost in comparison with deep discharge lead acid batteries. Taking into account, though, the decreasing cost prospects and trends of both the hybrid capacitors and the hydrogen components it is expected that this approach will become economically competitive in a few years

  17. Design of a Hybrid Controller for Autonomous Vehicles Driving on Automated Highways

    OpenAIRE

    Girault, Alain

    2001-01-01

    In this paper we address the problem of the hybrid control of autonomous vehicles driving on automated highways. Vehicles are autonomous, so they do not communicate with each other nor with the infrastructure. Two problems have to be dealt with: A vehicle driving in a single-lane highway must never collide with its leading vehicle; and a vehicle entering the highway at a designated entry junction mustb e able to merge from the merging lane to the main lane, again without any collision. To sol...

  18. MECHANICAL DESIGN OF AN AUTONOMOUS MARINE ROBOTIC SYSTEM FOR INTERACTION WITH DIVERS

    Directory of Open Access Journals (Sweden)

    Nikola Stilinović

    2016-09-01

    Full Text Available SCUBA diving, professional or recreational, remains one of the most hazardous activities known by man, mostly due to the fact that the human survival in the underwater environment requires use of technical equipment such as breathing regulators. Loss of breathing gas supply, burst eardrum, decompression sickness and nitrogen narcosis are just a few problems which can occur during an ordinary dive and result in injuries, long-term illnesses or even death. Most common way to reduce the risk of diving is to dive in pairs, thus allowing divers to cooperate with each other and react when uncommon situation occurs. Having the ability to react before an unwanted situation happens would improve diver safety. This paper describes an autonomous marine robotic system that replaces a human dive buddy. Such a robotic system, developed within an FP7 project “CADDY – Cognitive Autonomous Diving Buddy” provides a symbiotic link between robots and human divers in the underwater. The proposed concept consists of a diver, an autonomous underwater vehicle (AUV Buddy and an autonomous surface vehicle (ASV PlaDyPos, acting within a cooperative network linked via an acoustic communication channel. This is a first time that an underwater human-robot system of such a scale has ever been developed. In this paper, focus is put on mechanical characteristics of the robotic vehicles.

  19. Hybrid SPECT/CT evaluation of Marine-Lenhart syndrome.

    Science.gov (United States)

    Harisankar, Chidambaram Natrajan Balasubramanian; Preethi, Govindababu Rajalakshmi; Chungath, Biju Baby

    2013-02-01

    Marine-Lenhart syndrome has been described as a variant of Graves disease with the following criteria: (1) the thyroid scan shows an enlarged gland and 1 or 2 poorly functioning nodules; (2) the nodule is TSH dependent and the paranodular tissue is TSH independent; (3) after endogenous or exogenous TSH stimulation, the return of function in the nodule can be demonstrated; and (4) the nodule is histologically benign. We report a 57-year-old woman with Marine-Lenhart syndrome evaluated with technetium scanning and hybrid SPECT/CT. PMID:23334146

  20. Continuous Microfluidic Self-Assembly of Hybrid Janus-Like Vesicular Motors: Autonomous Propulsion and Controlled Release.

    Science.gov (United States)

    Wang, Lei; Liu, Yijing; He, Jie; Hourwitz, Matthew J; Yang, Yunlong; Fourkas, John T; Han, Xiaojun; Nie, Zhihong

    2015-08-01

    A microfluidic strategy is developed for the continuous fabrication of hybrid Janus vesicular motors that uniquely combine the capability of autonomous propulsion and externally controlled delivery of encapsulated payload. PMID:25925707

  1. Autonomous Control of Interlinking Converter With Energy Storage in Hybrid AC–DC Microgrid

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Li, Ding; Chai, Yi Kang;

    2013-01-01

    The coexistence of ac and dc subgrids in a hybrid microgrid is likely given that modern distributed sources can either be ac or dc. Linking these subgrids is a power converter, whose topology should preferably be not too unconventional. This is to avoid unnecessary compromises to reliability......, simplicity, and industry relevance of the converter. The desired operating features of the hybrid microgrid can then be added through this interlinking converter. To demonstrate, an appropriate control scheme is now developed for controlling the interlinking converter. The objective is to keep the hybrid...... microgrid in autonomous operation with active power proportionally shared among its distributed sources. Power sharing here should depend only on the source ratings and not their placements within the hybrid microgrid. The proposed scheme can also be extended to include energy storage within the...

  2. A Hybrid Controller for Vision-Based Navigation of Autonomous Vehicles in Urban Environments

    OpenAIRE

    Alves De Lima, Danilo; Corrêa Victorino, Alessandro

    2016-01-01

    International audience This paper presents a new hybrid control approach for vision-based navigation applied to autonomous robotic automobiles in urban environments. It is composed by a Visual Servoing (VS) for road lane following (as deliberative control) and a Dynamic Window Approach (DWA) for obstacle avoidance (as reactive control). Typically, VS applications do not change the velocities to stop the robot in dangerous situations or avoid obstacles while performing the navigation task. ...

  3. Autonomous Navigation Motion Control of Mobile Robots using Hybrid System Control Method

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Y.M. [Samsung Electronics Co., Ltd., Seoul (Korea); Lim, M.S. [Kyonggi Institute of Technology, Shihung (Korea); Lim, J.H. [Hanyang University, Seoul (Korea)

    2002-05-01

    This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments. (author). 13 refs., 13 figs., 1 tab.

  4. Autonomous Operation of Hybrid Microgrid with AC and DC Sub-Grids

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Blaabjerg, Frede

    2011-01-01

    This paper investigates on the active and reactive power sharing of an autonomous hybrid microgrid. Unlike existing microgrids which are purely ac, the hybrid microgrid studied here comprises dc and ac sub-grids, interconnected by power electronic interfaces. The main challenge here is to manage...... the power flow among all the sources distributed throughout the two types of sub-grids, which certainly is tougher than previous efforts developed for only either ac or dc microgrid. This wider scope of control has not yet been investigated, and would certainly rely on the coordinated operation of dc...... sources, ac sources and interlinking converters. Suitable control and normalization schemes are therefore developed for controlling them with results presented for showing the overall performance of the hybrid microgrid....

  5. Autonomous control of interlinking converters in hybrid AC-DC microgrids with energy storages

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Li, Ding; Blaabjerg, Frede

    2011-01-01

    Coexistence of both ac and dc sub-grids in a hybrid microgrid is likely given that modern distributed sources can either be ac or dc. Linking these sub-grids are power converters, whose topological configuration should preferably be not too unconventional to avoid unnecessary compromises in...... reliability. The desired operating features should therefore be introduced to the interlinking converters through control design with overall system simplicity still preserved for industry relevance. This concern is now addressed here through the development of an appropriate scheme for controlling the...... interlinking converters, so as to achieve autonomous control for the overall hybrid microgrid. Features achieved include proportional active power sharing among the distributed sources based on their ratings and not placements within the hybrid microgrid, and proper reactive power sharing within the ac sub...

  6. A Novel Design and Optimization Software for Autonomous PV/Wind/Battery Hybrid Power Systems

    Directory of Open Access Journals (Sweden)

    Ali M. Eltamaly

    2014-01-01

    Full Text Available This paper introduces a design and optimization computer simulation program for autonomous hybrid PV/wind/battery energy system. The main function of the new proposed computer program is to determine the optimum size of each component of the hybrid energy system for the lowest price of kWh generated and the best loss of load probability at highest reliability. This computer program uses the hourly wind speed, hourly radiation, and hourly load power with several numbers of wind turbine (WT and PV module types. The proposed computer program changes the penetration ratio of wind/PV with certain increments and calculates the required size of all components and the optimum battery size to get the predefined lowest acceptable probability. This computer program has been designed in flexible fashion that is not available in market available software like HOMER and RETScreen. Actual data for Saudi sites have been used with this computer program. The data obtained have been compared with these market available software. The comparison shows the superiority of this computer program in the optimal design of the autonomous PV/wind/battery hybrid system. The proposed computer program performed the optimal design steps in very short time and with accurate results. Many valuable results can be extracted from this computer program that can help researchers and decision makers.

  7. Medium-resolution autonomous in situ gamma detection system for marine and coastal waters

    International Nuclear Information System (INIS)

    We are developing a medium-resolution autonomous in situ gamma detection system for marine and coastal waters. The system is designed to extract and preconcentrate isotopes of interest from natural waters prior to detection in order to eliminate signal attenuation of the gamma rays traveling through water and lower the overall background from the presence of naturally occurring radioactive isotopes (40K and U-Th series radionuclides). Filtration is used to preconcentrate target isotopes residing on suspended particles, while chemosorption is employed to preferentially extract truly dissolved components from the water column. Used filter and chemosorbent media will be counted autonomously using two LaBr3 detectors in a near 4-π configuration around the samples. A compact digital pulse processing system, developed in-house and capable of running in coincidence mode, is used to process the signal from the detectors to a small on-board computer. The entire system is extremely compact (9' dia. x 30' len.) and platform independent, but designed for initial deployment on a research buoy. A variety of commercial and in-house nano-porous chemosorbents have been selected, procured or produced, and these and filter and detector components have been tested. (author)

  8. Robust design and optimization for autonomous PV-wind hybrid power systems

    Institute of Scientific and Technical Information of China (English)

    Jun-hai SHI; Zhi-dan ZHONG; Xin-jian ZHU; Guang-yi CAO

    2008-01-01

    This study presents a robust design method for autonomous photovoltaic (PV)-wind hybrid power systems to obtain an optimum system configuration insensitive to design variable variations. This issue has been formulated as a constraint multi-objective optimization problem, which is solved by a multi-objective genetic algorithm, NSGA-Ⅱ. Monte Carlo Simulation (MCS) method, combined with Latin Hypercube Sampling (LHS), is applied to evaluate the stochastic system performance. The potential of the proposed method has been demonstrated by a conceptual system design. A comparative study between the proposed robust method and the deterministic method presented in literature has been conducted. The results indicate that the proposed method can find a large mount of Pareto optimal system configurations with better compromising performance than the deterministic method. The trade-off information may be derived by a systematical comparison of these configurations. The proposed robust design method should be useful for hybrid power systems that require both optimality and robustness.

  9. A Rare Presentation of Autonomously Functioning Papillary Thyroid Cancer: Malignancy in Marine-Lenhart Syndrome Nodule

    Science.gov (United States)

    Uludag, Mehmet; Aygun, Nurcihan; Ozel, Alper; Yener Ozturk, Feyza; Karasu, Rabia; Ozguven, Banu Yilmaz; Citgez, Bulent; Mihmanli, Mehmet; Isgor, Adnan

    2016-01-01

    Objective. Marine-Lenhart Syndrome (MLS) is defined as concomitant occurrence of autonomously functioning thyroid nodule (AFTN) with Graves' disease (GD). Malignancy in a functional nodule is rare. We aimed to present an extremely rare case of papillary thyroid cancer in a MLS nodule with lateral lymph node metastases. Case. A 43-year-old male presented with hyperthyroidism and Graves' ophthalmopathy. On Tc99m pertechnetate scintigraphy, a hyperactive nodule in the left upper thyroid pole was detected and the remaining tissue showed a mildly increased uptake. The ultrasonography demonstrated 15.5 × 13.5 × 12 mm sized hypoechoic nodule in the left upper pole of the thyroid and round lymph nodes on the left side of the neck. Fine needle aspiration biopsy (FNAB) of the nodule and lymph node revealed cytological findings consistent with papillary cancer. Total thyroidectomy with central and left modified radical neck dissection was performed. On pathologic examination, two foci of micropapillary cancer were detected. The skip metastases were present in three lymph nodes on the neck. Conclusion. AFTN can be seen rarely in association with GD. It is not possible to exclude malignancy due to the clinical and imaging findings. In the presence of suspicious clinical and sonographic features, FNAB should be performed. PMID:27110424

  10. A Rare Presentation of Autonomously Functioning Papillary Thyroid Cancer: Malignancy in Marine-Lenhart Syndrome Nodule

    Directory of Open Access Journals (Sweden)

    Mehmet Uludag

    2016-01-01

    Full Text Available Objective. Marine-Lenhart Syndrome (MLS is defined as concomitant occurrence of autonomously functioning thyroid nodule (AFTN with Graves’ disease (GD. Malignancy in a functional nodule is rare. We aimed to present an extremely rare case of papillary thyroid cancer in a MLS nodule with lateral lymph node metastases. Case. A 43-year-old male presented with hyperthyroidism and Graves’ ophthalmopathy. On Tc99m pertechnetate scintigraphy, a hyperactive nodule in the left upper thyroid pole was detected and the remaining tissue showed a mildly increased uptake. The ultrasonography demonstrated 15.5 × 13.5 × 12 mm sized hypoechoic nodule in the left upper pole of the thyroid and round lymph nodes on the left side of the neck. Fine needle aspiration biopsy (FNAB of the nodule and lymph node revealed cytological findings consistent with papillary cancer. Total thyroidectomy with central and left modified radical neck dissection was performed. On pathologic examination, two foci of micropapillary cancer were detected. The skip metastases were present in three lymph nodes on the neck. Conclusion. AFTN can be seen rarely in association with GD. It is not possible to exclude malignancy due to the clinical and imaging findings. In the presence of suspicious clinical and sonographic features, FNAB should be performed.

  11. Distributed Control for Autonomous Operation of a Three-Port AC/DC/DS Hybrid Microgrid

    DEFF Research Database (Denmark)

    Wang, Peng; Jin, Chi; Zhu, Dexuan;

    2015-01-01

    This paper presents a distributed control scheme for reliable autonomous operation of a hybrid three-port ac/dc/distributed storage (ds) microgrid by means of power sharing in individual network, power exchange between ac and dc networks, and power management among three networks. The proposed...... ac/dc networks and operations of DS units with the benefit of reducing power exchange losses and prolonging storage lifetime. The proposed distributed control strategy has been verified by the simulation and experimental results....... module can operate independently without communication links. This would benefit for riding through communication malfunction in multilayer supervision control system; 2) a multilevel power exchange control for scheduling LPS, GPS, and SPS has been developed to reduce unnecessary power exchange between...

  12. An Integrated Hybrid Energy Harvester for Autonomous Wireless Sensor Network Nodes

    Directory of Open Access Journals (Sweden)

    Mukter Zaman

    2014-01-01

    Full Text Available Profiling environmental parameter using a large number of spatially distributed wireless sensor network (WSN NODEs is an extensive illustration of advanced modern technologies, but high power requirement for WSN NODEs limits the widespread deployment of these technologies. Currently, WSN NODEs are extensively powered up using batteries, but the battery has limitation of lifetime, power density, and environmental concerns. To overcome this issue, energy harvester (EH is developed and presented in this paper. Solar-based EH has been identified as the most viable source of energy to be harvested for autonomous WSN NODEs. Besides, a novel chemical-based EH is reported as the potential secondary source for harvesting energy because of its uninterrupted availability. By integrating both solar-based EH and chemical-based EH, a hybrid energy harvester (HEH is developed to power up WSN NODEs. Experimental results from the real-time deployment shows that, besides supporting the daily operation of WSN NODE and Router, the developed HEH is capable of producing a surplus of 971 mA·hr equivalent energy to be stored inside the storage for NODE and 528.24 mA·hr equivalent energy for Router, which is significantly enough for perpetual operation of autonomous WSN NODEs used in environmental parameter profiling.

  13. Design, Operation and Economic Analysis of Autonomous Hybrid PV-Diesel Power Systems Including Battery Storage

    Science.gov (United States)

    Papadopoulos, Demetrios P.; Maltas, Eleftherios Z.

    2010-01-01

    This paper presents a systematic techno-economic analysis of autonomous PV-Diesel energy system with battery storage. This hybrid type power system was developed and installed on the roof of the Electrical Engineering Laboratory building in the city of Xanthi, Greece, where a weather station is also installed providing necessary meteorological data since 2002. Such system can be generally used to supply electrical loads of isolated remote areas. The actual design of such a system is based on: a pre-defined load pattern to be supplied; the pertinent weather data; the relevant market prices; and the applicable recent economic rates (eg June 2009 for the Greek case). The system is operated on a predictive manner using a Programmable Logic Controller (PLC) which controls the main system parameters for safe and continuous power supply to meet reliably the desired load demand. Three distinct systems of this type and of equal capacity, which combine energy sources and battery storage have been proposed and assessed technically and economically.

  14. SEATONOMY Design, development and validation of marine autonomous systems and operations

    OpenAIRE

    Grøtli, Esten Ingar; Reinen, Tor Arne; Grythe, Knut; Transeth, Aksel Andreas; Vagia, Marialena; Bjerkeng, Magnus Christian; Rundtop, Per; Svendsen, Eirik; Rødseth, Ørnulf Jan; Eidnes, Grim

    2015-01-01

    The SEATONOMY methodology provides a structured approach for design, development and validation of mobile autonomous maritime operations and systems. The goal is to achieve this by providing system developers of autonomous systems with suitable guidelines, principles, best practices and tools. The methodology encompasses three viewpoints: operational, system and verification & validation. Industrial use cases are used as both input to the methodology, as well as pilotcases for an iterat...

  15. Exploration Robotique Autonome hybridant : évolution et théorie de l'information

    OpenAIRE

    Zhang, Guohua

    2015-01-01

    This thesis is concerned with building autonomous exploratory robotic controllers in an online, on-board approach, with no requirement for ground truth or human intervention in the experimental setting. This study is primarily motivated by autonomous robotics, specifically autonomous robot swarms. In this context, one faces two difficulties. Firstly, standard simulator-based approaches are hardly effective due to computational effciency and accuracy reasons. On the one hand, the simulator acc...

  16. U.S. Marine Corps to use autonomous vehicles built by Virginia Tech engineering students

    OpenAIRE

    Nystrom, Lynn A.

    2010-01-01

    Four unmanned autonomous vehicles designed and built by a team of engineering students at Virginia Tech using the TORC Robotic Building Blocks product line, are headed to Hawaii to participate in the 2010 Rim of the Pacific (RIMPAC) war games in July.

  17. Surveillance of Marine Resources by use of Stationary Platforms and Autonomous Underwater Vehicle (AUVS)

    OpenAIRE

    Patel, Ruben

    2007-01-01

    In this thesis I investigate, describe and demonstrate new platform technology and its application in fisheries research. The first task was to prepare an Autonomous Underwater Vehicle (AUV) for payload integration (Paper 1). The instrument to be integrated into the AUV was a SIMRAD EK60 scientific echo sounder. Space limitations of the AUV demanded physical modifications. The EK60 software was designed for manual operation. To overcome the associated problem for remote control in accordance ...

  18. An acoustic system for autonomous navigation and tracking of marine fauna

    KAUST Repository

    De la Torre, Pedro

    2014-08-01

    A marine acoustic system for underwater target tracking is described. This system is part of the Integrated Satellite and Acoustic Telemetry (iSAT) project to study marine fauna. It is a microcontroller-based underwater projector and receiver. A narrow-band, passive sonar detection architecture is described from signal generation, through transduction, reception, signal processing and up to tone extraction. Its circuit and operation principles are described. Finally, a comparison between the current energy detection method versus an alternative matched filter approach is included.

  19. Demonstration of a Semi-Autonomous Hybrid Brain-Machine Interface using Human Intracranial EEG, Eye Tracking, and Computer Vision to Control a Robotic Upper Limb Prosthetic

    OpenAIRE

    McMullen, David P.; Hotson, Guy; Katyal, Kapil D.; Wester, Brock A.; Fifer, Matthew S; McGee, Timothy G.; Harris, Andrew; Johannes, Matthew S; Vogelstein, R. Jacob; Ravitz, Alan D.; Anderson, William S.; Thakor, Nitish V.; Crone, Nathan E.

    2013-01-01

    To increase the ability of brain-machine interfaces (BMIs) to control advanced prostheses such as the modular prosthetic limb (MPL), we are developing a novel system: the Hybrid Augmented Reality Multimodal Operation Neural Integration Environment (HARMONIE). This system utilizes hybrid input, supervisory control, and intelligent robotics to allow users to identify an object (via eye tracking and computer vision) and initiate (via brain-control) a semi-autonomous reach-grasp-and-drop of the o...

  20. Model Predictive Control of a Hybrid Autonomous Underwater Vehicle with Experimental Verification

    OpenAIRE

    Steenson, L.V.; Turnock, S.R.; Phillips, A.B.; Harris, C.; Furlong, M.E.; Rogers, E.; Wang, L.; Bodles, K.; Evans, D. W.

    2014-01-01

    In this work model predictive control is used to provide transit and hover capabilities for an autonomous underwater vehicle where the description of the system dynamics used include terms measured experimentally. The resulting controller manoeuvres the vehicle in the presence of constraints on the actuators and results obtained from the deployment of the vehicle in an inland lake for the study of the Zebra mussel, an invasive species, are also given.

  1. Hybrid Kalman Filter/Fuzzy Logic based Position Control of Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Nitin Afzulpurkar

    2008-11-01

    Full Text Available This paper describes position control of autonomous mobile robot using combination of Kalman filter and Fuzzy logic techniques. Both techniques have been used to fuse information from internal and external sensors to navigate a typical mobile robot in an unknown environment. An obstacle avoidance algorithm utilizing stereo vision technique has been implemented for obstacle detection. The odometry errors due to systematic-errors (such as unequal wheel diameter, the effect of the encoder resolution etc. and/or non-systematic errors (ground plane, wheel-slip etc. contribute to various motion control problems of the robot. During the robot moves, whether straight-line and/or arc, create the position and orientation errors which depend on systematic and/or non-systematic odometry errors. The main concern in most of the navigating systems is to achieve the real-time and robustness performances to precisely control the robot movements. The objective of this research is to improve the position and the orientation of robot motion. From the simulation and experiments, we prove that the proposed mobile robot moves from start position to goal position with greater accuracy avoiding obstacles.

  2. Hybrid teaching method for undergraduate student in Marine Geology class in Indonesia

    Science.gov (United States)

    Yusuf Awaluddin, M.; Yuliadi, Lintang

    2016-04-01

    Bridging Geosciences to the future generations in interesting and interactive ways are challenging for lecturers and teachers. In the past, one-way 'classic' face-to-face teaching method has been used as the only alternative for undergraduate's Marine Geology class in Padjadjaran University, Indonesia. Currently, internet users in Indonesia have been increased significantly, among of them are young generations and students. The advantage of the internet as a teaching method in Geosciences topic in Indonesia is still limited. Here we have combined between the classic and the online method for undergraduate teaching. The case study was in Marine Geology class, Padjadjaran University, with 70 students as participants and 2 instructors. We used Edmodo platform as a primary tool in our teaching and Dropbox as cloud storage. All online teaching activities such as assignment, quiz, discussion and examination were done in concert with the classic one with proportion 60% and 40% respectively. We found that the students had the different experience in this hybrid teaching method as shown in their feedback through this platform. This hybrid method offers interactive ways not only between the lecturers and the students but also among students. Classroom meeting is still needed to expose their work and for general discussion.Nevertheless, the only problem was the lack of internet access in the campus when all our students accessing the platform at the same time.

  3. Developing a Collaborative and Autonomous Training and Learning Environment for Hybrid Wireless Networks

    CERN Document Server

    Lobo, Jose Eduardo M; Brust, Matthias R; Rothkugel, Steffen; Adriano, Christian M

    2007-01-01

    With larger memory capacities and the ability to link into wireless networks, more and more students uses palmtop and handheld computers for learning activities. However, existing software for Web-based learning is not well-suited for such mobile devices, both due to constrained user interfaces as well as communication effort required. A new generation of applications for the learning domain that is explicitly designed to work on these kinds of small mobile devices has to be developed. For this purpose, we introduce CARLA, a cooperative learning system that is designed to act in hybrid wireless networks. As a cooperative environment, CARLA aims at disseminating teaching material, notes, and even components of itself through both fixed and mobile networks to interested nodes. Due to the mobility of nodes, CARLA deals with upcoming problems such as network partitions and synchronization of teaching material, resource dependencies, and time constraints.

  4. Dynamic Stability Enhancement and Power Flow Control of a Hybrid Wind and Marine-Current Farm Using SMES

    DEFF Research Database (Denmark)

    Wang, Li; Chen, Shiang-Shong; Lee, Wei-Jen;

    2009-01-01

    This paper presents a control scheme based on a superconducting magnetic energy storage (SMES) unit to achieve both power flow control and damping enhancement of a novel hybrid wind and marine-current farm (MCF) connected to a large power grid. The performance of the studied wind farm (WF) is sim...

  5. Hybrid model predictive control applied to switching control of burner load for a compact marine boiler design

    DEFF Research Database (Denmark)

    Solberg, Brian; Andersen, Palle; Maciejowski, Jan;

    2008-01-01

    This paper discusses the application of hybrid model predictive control to control switching between different burner modes in a novel compact marine boiler design. A further purpose of the present work is to point out problems with finite horizon model predictive control applied to systems for w...

  6. Acoustic inversion with self noise of an autonomous underwater vehicle to measure sound speed in marine sediments

    NARCIS (Netherlands)

    A.V. van Leijen; L.J.M. Rothkranz; F.C.A. Groen

    2009-01-01

    This work reports on an experiment from the Maritime Rapid Environmental Assessment sea trials in 2007, where autonomous underwater vehicles were deployed for environmental assessment. Even though these underwater vehicles are very quiet platforms, this work investigates the potential of vehicle sel

  7. Demonstration of a semi-autonomous hybrid brain-machine interface using human intracranial EEG, eye tracking, and computer vision to control a robotic upper limb prosthetic.

    Science.gov (United States)

    McMullen, David P; Hotson, Guy; Katyal, Kapil D; Wester, Brock A; Fifer, Matthew S; McGee, Timothy G; Harris, Andrew; Johannes, Matthew S; Vogelstein, R Jacob; Ravitz, Alan D; Anderson, William S; Thakor, Nitish V; Crone, Nathan E

    2014-07-01

    To increase the ability of brain-machine interfaces (BMIs) to control advanced prostheses such as the modular prosthetic limb (MPL), we are developing a novel system: the Hybrid Augmented Reality Multimodal Operation Neural Integration Environment (HARMONIE). This system utilizes hybrid input, supervisory control, and intelligent robotics to allow users to identify an object (via eye tracking and computer vision) and initiate (via brain-control) a semi-autonomous reach-grasp-and-drop of the object by the MPL. Sequential iterations of HARMONIE were tested in two pilot subjects implanted with electrocorticographic (ECoG) and depth electrodes within motor areas. The subjects performed the complex task in 71.4% (20/28) and 67.7% (21/31) of trials after minimal training. Balanced accuracy for detecting movements was 91.1% and 92.9%, significantly greater than chance accuracies (p system improvements implemented for the second subject. Our hybrid-BMI design prevented all but one baseline false positive from initiating the system. The novel approach demonstrated in this proof-of-principle study, using hybrid input, supervisory control, and intelligent robotics, addresses limitations of current BMIs. PMID:24760914

  8. Demonstration of a semi-autonomous hybrid brain-machine interface using human intracranial EEG, eye tracking, and computer vision to control a robotic upper limb prosthetic.

    Science.gov (United States)

    McMullen, David P; Hotson, Guy; Katyal, Kapil D; Wester, Brock A; Fifer, Matthew S; McGee, Timothy G; Harris, Andrew; Johannes, Matthew S; Vogelstein, R Jacob; Ravitz, Alan D; Anderson, William S; Thakor, Nitish V; Crone, Nathan E

    2014-07-01

    To increase the ability of brain-machine interfaces (BMIs) to control advanced prostheses such as the modular prosthetic limb (MPL), we are developing a novel system: the Hybrid Augmented Reality Multimodal Operation Neural Integration Environment (HARMONIE). This system utilizes hybrid input, supervisory control, and intelligent robotics to allow users to identify an object (via eye tracking and computer vision) and initiate (via brain-control) a semi-autonomous reach-grasp-and-drop of the object by the MPL. Sequential iterations of HARMONIE were tested in two pilot subjects implanted with electrocorticographic (ECoG) and depth electrodes within motor areas. The subjects performed the complex task in 71.4% (20/28) and 67.7% (21/31) of trials after minimal training. Balanced accuracy for detecting movements was 91.1% and 92.9%, significantly greater than chance accuracies (p system improvements implemented for the second subject. Our hybrid-BMI design prevented all but one baseline false positive from initiating the system. The novel approach demonstrated in this proof-of-principle study, using hybrid input, supervisory control, and intelligent robotics, addresses limitations of current BMIs.

  9. Mechanical properties and production quality of hand-layup and vacuum infusion processed hybrid composite materials for GFRP marine structures

    Directory of Open Access Journals (Sweden)

    Kim Sang-Young

    2014-09-01

    Full Text Available Glass Fiber Reinforced Plastic (GFRP structures are primarily manufactured using hand lay-up or vacuum infusion techniques, which are cost-effective for the construction of marine vessels. This paper aims to investigate the mechanical properties and failure mechanisms of the hybrid GFRP composites, formed by applying the hand lay-up processed exterior and the vacuum infusion processed interior layups, providing benefits for structural performance and ease of manufacturing. The hybrid GFRP composites contain one, two, and three vacuum infusion processed layer sets with consistent sets of hand lay-up processed layers. Mechanical properties assessed in this study include tensile, compressive and in-plane shear properties. Hybrid composites with three sets of vacuum infusion layers showed the highest tensile mechanical properties while those with two sets had the highest mechanical properties in compression. The batch homogeneity, for the GFRP fabrication processes, is evaluated using the experimentally obtained mechanical properties

  10. Mechanical properties and production quality of hand-layup and vacuum infusion processed hybrid composite materials for GFRP marine structures

    Science.gov (United States)

    Kim, Sang-Young; Shim, Chun Sik; Sturtevant, Caleb; Kim, Dave (Dae-Wook); Song, Ha Cheol

    2014-09-01

    Glass Fiber Reinforced Plastic (GFRP) structures are primarily manufactured using hand lay-up or vacuum infusion techniques, which are cost-effective for the construction of marine vessels. This paper aims to investigate the mechanical properties and failure mechanisms of the hybrid GFRP composites, formed by applying the hand lay-up processed exterior and the vacuum infusion processed interior layups, providing benefits for structural performance and ease of manufacturing. The hybrid GFRP composites contain one, two, and three vacuum infusion processed layer sets with consistent sets of hand lay-up processed layers. Mechanical properties assessed in this study include tensile, compressive and in-plane shear properties. Hybrid composites with three sets of vacuum infusion layers showed the highest tensile mechanical properties while those with two sets had the highest mechanical properties in compression. The batch homogeneity, for the GFRP fabrication processes, is evaluated using the experimentally obtained mechanical properties

  11. When biogeographical provinces collide: Hybridization of reef fishes at the crossroads of marine biogeographical provinces in the Arabian Sea

    KAUST Repository

    DiBattista, Joseph

    2015-04-01

    Aim: Suture zones are areas where closely related species from different biogeographical regions come into contact and interbreed. This concept originated from the study of terrestrial ecosystems but it remains unclear whether a similar phenomenon occurs in the marine environment. Here we investigate a potential suture zone from a previously unknown hybrid hotspot at the Socotra Archipelago (Yemen), located in the Arabian Sea, where fauna from the Red Sea, Gulf of Aden, Arabian Sea, western Indian Ocean and greater Indo-Polynesian Province intersect. Location: Red Sea, Gulf of Aden, Arabian Sea and Indian Ocean. Methods: Putative hybrid reef fish were identified based on intermediate coloration and morphology. Underwater observations and collections were conducted to determine: (1) whether parent species form heterospecific social groups or breeding pairs; (2) the sex and reproductive status of morphologically intermediate individuals; and (3) whether parent species were forming mixed species associations owing to a dearth of conspecific partners. To support hybrid status, morphologically intermediate and parental individuals were genotyped using mitochondrial DNA cytochrome c oxidase subunit I (COI), nuclear recombination-activating gene 2 (RAG2) and the nuclear TMO-4C4 (TMO) gene. Results: We observed putative hybrids involving 14 species from four reef fish families at Socotra. Most cases involved a parental species with a restricted distribution (e.g. Red Sea or Arabian Sea) and a broadly distributed Indo-Pacific species. In most cases, at least one of the parent species was rare at Socotra. Hybrid gene flow was largely unidirectional, and although introgression was rare, we found evidence that some butterflyfish and surgeonfish hybrids were fertile and formed breeding groups with parental species. Main conclusions: The rate of hybrid discovery at Socotra is much greater than that recorded elsewhere in the marine environment and involved both allopatric and

  12. Using an autonomous passive acoustic observational system to monitor the environmental impact of the Gulf of Mexico oil spill on deep-diving marine mammals

    Science.gov (United States)

    Sidorovskaia, N.; Ackleh, A.; Ma, B.; Tiemann, C.; Ioup, J. W.; Ioup, G. E.

    2012-12-01

    The Littoral Acoustic Demonstration Center (LADC) is a consortium of scientists from four universities and the U.S. Navy, which performs acoustic measurements and analysis in littoral waters. For the present work, six passive autonomous broadband acoustic sensors were deployed by LADC in the vicinity of the Deep Water Horizon oil spill site in the Northern Gulf of Mexico in fall 2010. The objective of the project is to assess long-term impact of the spill on the deep-diving residential population of marine mammals, particularly, sperm and beaked whales. Collected data were processed to detect, extract, and count acoustic signals produced by different types of marine mammals. As a next step, a statistical model which uses acoustic inputs was developed to estimate residential populations of different types of marine mammals at different distances from the spill site. The estimates were compared to population estimates from years prior to the spill, using pre-spill collected data in the area by LADC from 2001, 2002, and 2007. The results indicate different responses from sperm and beaked whales in the first months following the spill. A recently published article by our research group (Ackleh et al., J. Acoust. Soc. Am. 131, 2306-2314) provides a comparison of 2007 and 2010 estimates showing a decrease in acoustic activity and abundance of sperm whales at the 9-mile distant site, whereas acoustic activity and abundance at the 25-mile distant site has clearly increased. This may indicate that some sperm whales have relocated farther away from the spill subject to food source availability. The beaked whale population appears to return to 2007 numbers after the spill even at the closest 9-mile distant site. Several acoustically observed changes in the animals' habitat associated with the spill, such as anthropogenic noise level, prey presence, etc., can be connected with the observed population trends. Preliminary results for interpreting observed population trends will

  13. A Novel Bifunctional Hybrid with Marine Bacterium Alkaline Phosphatase and Far Eastern Holothurian Mannan-Binding Lectin Activities

    OpenAIRE

    Larissa Balabanova; Vasily Golotin; Svetlana Kovalchuk; Alexander Bulgakov; Galina Likhatskaya; Oksana Son; Valery Rasskazov

    2014-01-01

    A fusion between the genes encoding the marine bacterium Cobetia marina alkaline phosphatase (CmAP) and Far Eastern holothurian Apostichopus japonicus mannan-binding C-type lectin (MBL-AJ) was performed. Expression of the fusion gene in E. coli cells resulted in yield of soluble recombinant chimeric protein CmAP/MBL-AJ with the high alkaline phosphatase activity and specificity of the lectin MBL-AJ. The bifunctional hybrid CmAP/MBL-AJ was produced as a dimer with the molecular mass of 200 kDa...

  14. Conception systémique d'une locomotive hybride autonome : application à la locomotive hybride de démonstration et d'investigations en énergétique LhyDIE développée par la SNCF

    OpenAIRE

    Akli, Cossi Rockys

    2008-01-01

    Dans le cadre du projet PLATHEE (Plate-forme pour Trains Hybrides Economes en Energie et respectueux de l'environnement) la SNCF et le laboratoire LAPLACE s'inté- ressent à la conception, au dimensionnement et à la gestion d'énergie d'une locomotive hybride autonome baptisée LHYDIE (Locomotive Hybride de Démonstration et d'Investigation en Energétique). La locomotive hybride est constituée d'un groupe diesel couplé à des accumulateurs Ni-Cd et des supercondensateurs. Une première phase d'étud...

  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. Using Hybrid Model to Evaluate Performance of Innovation and Technology Professionals in Marine Logistics Industry

    Directory of Open Access Journals (Sweden)

    Qunzhen Qu

    2015-01-01

    Full Text Available With the development of marine logistics industry to grow, the government and corporate more and more attach importance to the performance evaluation of innovation and technology professionals. Combine the characteristics of marine logistics industry and innovative technology professionals to design a performance evaluation index of marine logistics industry in innovation and technology professionals, with the Analytic Hierarchy Process (AHP to determine the weights of the various performance indicatorsf and through the establishment of fuzzy comprehensive evaluation model to make the problems of complex performance evaluation quantification and then come to their performance evaluation results, and provide reference methods and recommendations for innovation and technology professionals in performance evaluation theory and practice of marine logistics industry.

  17. Hybrid Motion Planning Method for Autonomous Robots Using Kinect Based Sensor Fusion and Virtual Plane Approach in Dynamic Environments

    Directory of Open Access Journals (Sweden)

    Doopalam Tuvshinjargal

    2015-01-01

    Full Text Available A new reactive motion planning method for an autonomous vehicle in dynamic environments is proposed. The new dynamic motion planning method combines a virtual plane based reactive motion planning technique with a sensor fusion based obstacle detection approach, which results in improving robustness and autonomy of vehicle navigation within unpredictable dynamic environments. The key feature of the new reactive motion planning method is based on a local observer in the virtual plane which allows the effective transformation of complex dynamic planning problems into simple stationary in the virtual plane. In addition, a sensor fusion based obstacle detection technique provides the pose estimation of moving obstacles by using a Kinect sensor and a sonar sensor, which helps to improve the accuracy and robustness of the reactive motion planning approach in uncertain dynamic environments. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles even in hostile environments where conventional method failed.

  18. 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.

  19. Visualization and enumeration of marine planktonic archaea and bacteria by using polyribonucleotide probes and fluorescent in situ hybridization.

    Science.gov (United States)

    DeLong, E F; Taylor, L T; Marsh, T L; Preston, C M

    1999-12-01

    Fluorescent in situ hybridization (FISH) using rRNA-specific oligonucleotide probes has emerged as a popular technique for identifying individual microbial cells. In natural samples, however, the signal derived from fluor-labeled oligonucleotide probes often is undetectable above background fluorescence in many cells. To circumvent this difficulty, we applied fluorochrome-labeled polyribonucleotide probes to identify and enumerate marine planktonic archaea and bacteria. The approach greatly enhanced the sensitivity and applicability of FISH with seawater samples, allowing confident identification and enumeration of planktonic cells to ocean depths of 3,400 m. Quantitative whole-cell hybridization experiments using these probes accounted for 90 to 100% of the total 4',6-diamidino-2-phenylindole (DAPI)-stained cells in most samples. As predicted in a previous study (R. Massana, A. E. Murray, C. M. Preston, and E. F. DeLong, Appl. Environ. Microbiol. 63:50-56, 1997), group I and II marine archaea predominate in different zones in the water column, with maximal cell densities of 10(5)/ml. The high cell densities of archaea, extending from surface waters to abyssal depths, suggest that they represent a large and significant fraction of the total picoplankton biomass in coastal ocean waters. The data also show that the vast majority of planktonic prokaryotes contain significant numbers of ribosomes, rendering them easily detectable with polyribonucleotide probes. These results imply that the majority of planktonic cells visualized by DAPI do not represent lysed cells or "ghosts," as was suggested in a previous report. PMID:10584017

  20. Control strategy of an autonomous desalination unit fed by PV-Wind hybrid system without battery storage

    Directory of Open Access Journals (Sweden)

    M. Turki

    2008-06-01

    Full Text Available This paper presents a novel approach to economic dispatch problems with valve point effects and multiple fuel options using a hybrid evolutionary programming method. Determination of global optimum solution for the practical economic dispatch problem having non smooth cost functions is difficult by using conventional mathematical approaches. Hence several evolutionary algorithm methods were proposed to solve this problem. In this paper, EP-LMO (Evolutionary Programming with Levenberg-Marquardt Optimization technique is proposed to solve economic dispatch problems with valve point effects and multiple fuel options. The EP-LMO is developed in such a way that a simple evolutionary programming (EP is applied as a base level search to find the direction of the optimal global region. And Levenberg-Marquardt Optimization (LMO method is used as a fine tuning to determine the optimal solution. To illustrate the efficiency and effectiveness of the proposed approach, two bench mark problems are considered. First test problem considers multiple fuel options and next problem addresses both valve-point effects and multi-fuel options. To validate the obtained results, the proposed method is compared with the results of conventional numerical methods, Modified Hop-field Neural network, Evolutionary Programming approaches, Modified PSO, Improved PSO and Improved Genetic Algorithm with multiplier updating (IGA_MUmethod.

  1. Alternatives and selection of an electrical motor for the autonomous hybrid drive system; Alternativen und Auswahl eines Elektromotors fuer den Autarken Hybrid

    Energy Technology Data Exchange (ETDEWEB)

    Krasser, B.; Lorenzen, H.W.; Schmid, M.

    1994-12-31

    Equipping a vehicle with a hybrid drive system always involves additional components to be installed. These components will have to be specifically light of weight with a view to total vehicle weight increase. In the electrical motor, weight savings may be achieved by an appropriate selection of motor concept and speed. The weight of electronic parts is largely determined by the weight of the associated heat dissipation systems. The different drive trains will be studied for their efficiency and operating properties in various test cycles on test stand which is being set up. This test rig will have a high-precision output analyzer which will be accurate if samples are static-converter-fed. Computer simulations will be used for optimization. (orig./HW) [Deutsch] Die Ausruestung eines Fahrzeugs mit einem Hybridantrieb bedingt immer zusaetzliche Komponenten. Diese Komponenten muessen im Hinblick auf eine moeglichst geringe Zunahme des Gesamtgewichts besonders leicht sein. Die Gewichtsreduzierung beim Elektromotor laesst sich durch die Wahl des Motorkonzepts und der Drehzahl beeinflussen. Bei der Leistungselektronik wird der groesste Anteil des Gewichts durch die Einrichtungen zur Waemeabfuhr verursacht. Die verschiedenen Antriebsstraenge sollen auf einem im Aufbau befindlichen Pruefstand hinsichtlich Wirkungsgrad und Betriebseigenschaften bei unterschiedlichen Testzyklen untersucht werden. Am Pruefstand wird ein hochgenauer Leistungsanalysator eingesetzt, der auch bei Stromrichterspeisung der Prueflinge praezise arbeitet. Als Hilfe zur Optimierung werden Computersimulationen ausgefuehrt. (orig./HW)

  2. A Novel Bifunctional Hybrid with Marine Bacterium Alkaline Phosphatase and Far Eastern Holothurian Mannan-Binding Lectin Activities

    Science.gov (United States)

    Balabanova, Larissa; Golotin, Vasily; Kovalchuk, Svetlana; Bulgakov, Alexander; Likhatskaya, Galina; Son, Oksana; Rasskazov, Valery

    2014-01-01

    A fusion between the genes encoding the marine bacterium Cobetia marina alkaline phosphatase (CmAP) and Far Eastern holothurian Apostichopus japonicus mannan-binding C-type lectin (MBL-AJ) was performed. Expression of the fusion gene in E. coli cells resulted in yield of soluble recombinant chimeric protein CmAP/MBL-AJ with the high alkaline phosphatase activity and specificity of the lectin MBL-AJ. The bifunctional hybrid CmAP/MBL-AJ was produced as a dimer with the molecular mass of 200 kDa. The CmAP/MBL-AJ dimer model showed the two-subunit lectin part that is associated with two molecules of alkaline phosphatase functioning independently from each other. The highly active CmAP label genetically linked to MBL-AJ has advantaged the lectin-binding assay in its sensitivity and time. The double substitution A156N/F159K in the lectin domain of CmAP/MBL-AJ has enhanced its lectin activity by 25±5%. The bifunctional hybrid holothurian's lectin could be promising tool for developing non-invasive methods for biological markers assessment, particularly for improving the MBL-AJ-based method for early detection of a malignant condition in cervical specimens. PMID:25397876

  3. A novel bifunctional hybrid with marine bacterium alkaline phosphatase and Far Eastern holothurian mannan-binding lectin activities.

    Directory of Open Access Journals (Sweden)

    Larissa Balabanova

    Full Text Available A fusion between the genes encoding the marine bacterium Cobetia marina alkaline phosphatase (CmAP and Far Eastern holothurian Apostichopus japonicus mannan-binding C-type lectin (MBL-AJ was performed. Expression of the fusion gene in E. coli cells resulted in yield of soluble recombinant chimeric protein CmAP/MBL-AJ with the high alkaline phosphatase activity and specificity of the lectin MBL-AJ. The bifunctional hybrid CmAP/MBL-AJ was produced as a dimer with the molecular mass of 200 kDa. The CmAP/MBL-AJ dimer model showed the two-subunit lectin part that is associated with two molecules of alkaline phosphatase functioning independently from each other. The highly active CmAP label genetically linked to MBL-AJ has advantaged the lectin-binding assay in its sensitivity and time. The double substitution A156N/F159K in the lectin domain of CmAP/MBL-AJ has enhanced its lectin activity by 25 ± 5%. The bifunctional hybrid holothurian's lectin could be promising tool for developing non-invasive methods for biological markers assessment, particularly for improving the MBL-AJ-based method for early detection of a malignant condition in cervical specimens.

  4. Assessing and monitoring cryptic reef diversity of colonizing marine invertebrates in Timor-Leste from 2012 to 2014 using the Autonomous Reef Monitoring Structure (ARMS) method

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — To support a long-term program for sustainable management and conservation of coral reef ecosystems, from 2008, Autonomous Reef Monitoring Structures (ARMS) have...

  5. 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...

  6. 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...

  7. Commande coopérative d'une flottille de véhicules autonomes sous-marins avec contraints de communication

    OpenAIRE

    Briñon Arranz, Lara

    2011-01-01

    This dissertation focuses on cooperative control of multi-agent systems. This topic has been extensively studied in recent literature due to its large number of applications. This thesis is concerned by the design of collaborative control strategies in order to achieve an underwater exploration mission. In particular, the final aim is to steer a fleet of Autonomous Underwater Vehicles, which are equipped by appropriate sensors, to the location of a source of temperature, pollutant or fresh wa...

  8. Linking catchment-scale subglacial discharge to subsurface glacially modified waters near the front of a marine terminating outlet glacier using an autonomous underwater vehicle

    Science.gov (United States)

    Stevens, L. A.; Straneo, F.; Das, S. B.; Plueddemann, A. J.; Kukulya, A. L.; Morlighem, M.

    2015-09-01

    Measurements of near-ice (Autonomous Underwater Vehicle as close as 150 m from the ice/ocean interface of the Sarqardliup sermia/Sarqardleq Fjord system, West Greenland, with modeled and observed subglacial discharge locations and magnitudes. We find evidence of two main types of subsurface glacially modified water localized in space and with distinct properties that are consistent with runoff discharged at two locations along the grounded margin. These locations, in turn, correspond with two prominent subglacial subcatchments beneath Sarqardliup sermia. Thus, near-ice observations and subglacial discharge routing indicate that subglacial discharge from this glacier occurs at only two primary locations and gives rise to two distinct glacially modified waters. Furthermore, we show that the location with the largest discharge flux is associated with the lighter, fresher glacially modified watermass. This is qualitatively consistent with results from an idealized plume model.

  9. 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

  10. 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...

  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. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

    Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

  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. Autonomous Navigation with Constrained Consistency for C-Ranger

    OpenAIRE

    Shujing Zhang; Bo He; Lulu Ying; Minghui Li; Guang Yuan

    2014-01-01

    Autonomous underwater vehicles (AUVs) have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM), are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past dec...

  15. 基于混合环境模型的自主移动机器人环境探索研究%Research on autonomous robots' environment exploration based on hybrid environment model

    Institute of Scientific and Technical Information of China (English)

    贾松敏; 沈红敏; 李秀智; 王可

    2013-01-01

    For exploring the interior unknown environment,by using an autonomous mobile robot this paper proposes a high-effect autonomous environment exploration algorithm based on a hybrid topological-metric map.The topological map based on environment Opening-Points is built in real-time according to current sensor information.The optimal instant target is selected as the exploration direction for the next step by analyzing and dealing with the OpeningPoints.In the framework of Rao-Blackwellized particle filter (RBPF),the grid map based Simultaneous Localization and Mapping (SLAM) is introduced into the autonomous exploration process of the mobile robot,which provides the accurate position estimate to improve the position accuracy of the topological node effectively and complete the exploration task smoothly.The exploration algorithm based on the above two strategies gives consideration to both accuracy and efficiency.The validity and practicability of the proposed exploration approach was validated by a lot of experiments on the mobile robot Pioneer3-DX.%针对未知室内环境,提出了一种基于度量-拓扑混合式地图的高效的自主移动机器人环境探索策略:移动机器人根据当前传感器数据实时构建环境通路点拓扑地图,对各个环境通路点进行细致分析与处理,选择最优的即时目标点作为规划的探索方向;在Rao-Blackwellized粒子滤波(RBPF)框架下,将基于栅格地图的同步定位与地图创建(SLAM)算法引入到机器人自主探索任务中,提供准确的机器人位姿估计,以有效改善拓扑节点的位置精度,保证机器人顺利完成探索任务.基于上述策略提出的环境探索算法能够兼顾探索效率与精度.通过在配有激光测距仪的Pioneer3-DX型移动机器人平台上进行现场实验,有力验证了这种探索算法的有效性及实用性.

  16. Feasibility of implementation of an autonomous hybrid system for PEM fuel cells to electrify localities in rural Cuba; Factibilidad de implementacion de un sistema hibrido autonomo con celda de combustible PEM para electrificar localidades rurales en Cuba

    Energy Technology Data Exchange (ETDEWEB)

    Sanchez Torres, Yamir [Centro de Estudios de Tecnologias Energeticas Renovables (CETER), Ciudad de la Habana (Cuba)] e-mail: yamir@ceter.cujae.edu.cu

    2009-09-15

    The use of PEM fuel cells to produce electric energy in autonomous systems is closely linked with the production and storage of hydrogen. Eventually joined with sources of renewable energy, this creates an ecologically clean and sustainable system. In several developing countries, localities exist that do not have electricity but have significant unexploited renewable energy power, where an autonomous hybrid system can be designed to electrify these population centers. This work presents a hybrid electricity scheme with a PEM fuel cell to produce hydrogen and electricity in order to electrify rural zones far from the national power grid in Cuba. The electric demand of the zone and available energy power was calculated using the informatics modeling and simulation programs HOMER, PVSYST and Matlab 1,2,3. Variability in wind and photovoltage power was determined based on daylight hours and seasonal periods throughout the year as well as their effect on the production of hydrogen and electricity. It was shown that the energy demand is met even for the most adverse scenarios. This work offers a detailed description of the behavior of the system and evidence of no effect on the environment, enabling the electrification and wellbeing of residents of the locality. [Spanish] El uso de celdas de combustible PEM para la produccion de energia electrica en sistemas autonomos esta estrechamente ligado a la produccion y almacenamiento de hidrogeno. Esto eventualmente unido a las fuentes renovables de energia forma un sistema ecologicamente limpio y sustentable. En varios paises subdesarrollados existen localidades que no cuentan con electricidad y que tienen importantes potenciales energeticos renovables no explotados actualmente en los cuales se puede disenar un sistema hibrido autonomo para electrificar estas poblaciones. En este trabajo se presenta el esquema de un sistema hibrido autonomo con celda de combustible PEM, para la produccion de hidrogeno y electricidad encaminado

  17. Development of a control system for an autonomous underwater vehicle

    OpenAIRE

    Masmitjà Rusiñol, Ivan; Masmitja Rusinyol, Gerard; González Agudelo, Julián; Shariat Panahi, Shahram; Gomáriz Castro, Spartacus

    2010-01-01

    This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetr...

  18. 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.

  19. Aquatic flight inspired propulsion for autonomous underwater vehicles

    OpenAIRE

    Man, S.

    2015-01-01

    Modern Autonomous Underwater Vehicle (AUV) technology has a number of limitations and one of these is vehicle manoeuvrability. Conventional flight style AUVs generally have turning circle diameters of five or more vehicle lengths, but most marine animals can turn in under one body length. This shows there is merit in looking at marine animals for inspiration to improve the manoeuvrability of AUVs. Aquatic flight propulsion is one marine animal propulsion strategy that was identified early in ...

  20. 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.

  1. 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 ...

  2. 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 ...

  3. Assessing and monitoring cryptic reef diversity of colonizing marine invertebrates across the U.S.-affiliated islands and atolls in the Pacific since 2008 using the Autonomous Reef Monitoring Structure (ARMS) method

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — To support a long-term program for sustainable management and conservation of coral reef ecosystems, from 2008, Autonomous Reef Monitoring Structures (ARMS) have...

  4. [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.

  5. 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).

  6. TIGRE - An autonomous ground robot for outdoor exploration

    OpenAIRE

    Martins, Alfredo; Amaral, Guilherme; Dias, André; Almeida, Carlos; Almeida, José; Silva, Eduardo

    2013-01-01

    13th International Conference on Autonomous Robot Systems (Robotica), 2013 In this paper we present an autonomous ground robot developed for outdoor applications in unstructured scenarios. The robot was developed as a versatile robotics platform for development, test and validation of research in navigation, control, perception and multiple robot coordination on all terrain scenarios. The hybrid systems approach to the control architecture is discussed in the context of multiple robot coor...

  7. 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.

  8. 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...

  9. AFSC/ABL: Autonomous underwater vehicle for tracking acoustically-tagged fish 2010

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Autonomous underwater vehicles (AUVs) are increasingly being used to collect physical, chemical, and biological information in the marine environment. Recent...

  10. 船舶电站转速-转矩复合的自校正控制%Speed-torque hybrid control with self-tuning for marine power station

    Institute of Scientific and Technical Information of China (English)

    张桂臣; 马捷

    2011-01-01

    In order to study the dynamic characteristics and their interrelation of marine power station and electrical propulsion system in marine electrical propulsion system (MEPS), a hybrid control strategy combining with SSP capability for diesel engine was proposed. The dynamic characteristics of propulsion motor and the load characteristics of generator were fully applied to the speed-torque hybrid control of diesel engine. The on-line self-tuning adjustment for the hybrid control weighting parameters was realized with Lyapunove approach. The SSP MEPS practicality simulation based on SIMOTION was established. The simulation results show that the speed-torque hybrid control can realize the smooth control for both power and torque of diesel engine, and exhibit better dynamic performances.%为了研究船舶电力推进系统(MEPS)中船舶电站与电力推进系统的动态特性及其相互关系,提出了一种与吊舱推进器SSP相结合的柴油机复合控制策略.将电力上的互联推进电机动态特性及发电机负荷特性充分应用于柴油机的转速一转矩复合控制,利用Lyapunov分析法对复合控制权重参数进行在线自校正调节.建立了基于SIMOTION的SSPMEPS实物仿真系统,仿真结果表明,转速啭矩复合控制能实现柴油机平滑的功率与转矩控制,具有较好的动态性能.

  11. Autonomous Navigation with Constrained Consistency for C-Ranger

    OpenAIRE

    Zhang, Shujing; He, Bo; Ying, Lulu; Li, Minghui; Yuan, Guang

    2014-01-01

    Autonomous underwater vehicles (AUVs) have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM), are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past dec...

  12. An analysis of the Joint Strike Fighter autonomic logistics system

    OpenAIRE

    Tsoutis, Anastasios.

    2006-01-01

    Traditionally in the Navy/Marine Corps, in an effort to be proactive and prevent failures, maintenance and inspections are performed at fixed intervals independent of aircraft status. The current preventive maintenance strategy services and replaces certain components on a predetermined schedule. Additionally, the current Navy/Marine Corps aircraft repair process is reactive. When failures occur, the logistics system - maintenance and supply - respond. The Joint Strike Fighter Autonomic L...

  13. 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...

  14. 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

  15. 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.

  16. 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 ...

  17. 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....

  18. 船舶电力推进直接转矩与转速复合控制%Hybrid control of direct torque and speed for marine electrical propulsion

    Institute of Scientific and Technical Information of China (English)

    张桂臣; 马捷

    2011-01-01

    The conventional marine electrical propulsion controller does not fully utilize the dynamic characteristics of the electrical propulsion system. This paper presents hybrid control algorithms which include the eapabilities of speed, torque, thruster, and power, and establish the simulation device of marine electrical propulsion based on SIMOTION. Additionally, experimental study of hybrid control for propulsion motors was performed. Comparison study and analysis of propulsion motor speed, torque, and power controllers was achieved. The experimental results show that hybrid control strategies can obtain accurate and smooth speed and torque control as well as lower fluctuations and mechanical wear.%针对常规船舶电力推进控制器没有充分利用推进系统的动态特性这一问题,提出了包含速度、转矩、推力和功率特性的复合控制算法,建立了基于SIMOTION的船舶电力推进模拟设备,进行推进电机复合控制的试验研究.分析并比较了速度、转矩与功率3种控制策略.试验结果表明:利用直接转矩与转速复合控制,能获得精确和平滑的转速与转矩控制,最小的转速与转矩脉动,以致最小的机械磨损.

  19. A Straightening Theorem for non-Autonomous Iteration

    OpenAIRE

    Comerford, Mark

    2011-01-01

    The classical straightening theorem as proved by Douady and Hubbard shows that a polynomial-like sequence is hybrid equivalent to a polynomial. We generalize this result to non-autonomous iteration where one considers composition sequences arising from a varying sequence of functions. In order to do this, new techniques are required to control the distortion and quasiconformal dilatation of the hybrid equivalence. In particular, the Caratheodory topology for pointed domains allows us to speci...

  20. Autonomous benthic algal cultivator under feedback control of ecosystem metabolism

    Science.gov (United States)

    An autonomous and internally-controlled techno-ecological hybrid was developed that controls primary production of algae in a laboratory-scale cultivator. The technoecosystem is based on an algal turf scrubber (ATS) system that combines engineered feedback control programming with internal feedback...

  1. 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.

  2. 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.

  3. 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

  4. 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.

  5. 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 ...

  6. 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

  7. 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.

  8. 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.

  9. 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....

  10. SOLON: An autonomous vehicle mission planner

    Science.gov (United States)

    Dudziak, M. J.

    1987-01-01

    The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.

  11. The technical aspect of iMarine

    OpenAIRE

    Pagano, Pasquale (ISTI-CNR)

    2014-01-01

    The presentation describes how iMarine is exploiting a Hybrid Data Infrastructure combining over 500 software components into a coherent and centrally managed system of hardware, software, and data resources

  12. 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.

  13. 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...

  14. 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.

  15. 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

  16. 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.

  17. A behavior-based scheme using reinforcement learning for autonomous underwater vehicles

    OpenAIRE

    Carreras Pérez, Marc; Yuh, Junku; Batlle i Grabulosa, Joan; Ridao Rodríguez, Pere

    2005-01-01

    This paper presents a hybrid behavior-based scheme using reinforcement learning for high-level control of autonomous underwater vehicles (AUVs). Two main features of the presented approach are hybrid behavior coordination and semi on-line neural-Q_learning (SONQL). Hybrid behavior coordination takes advantages of robustness and modularity in the competitive approach as well as efficient trajectories in the cooperative approach. SONQL, a new continuous approach of the Q_learning algorithm with...

  18. Visual Odometry and Mapping for Underwater Autonomous Vehicles

    OpenAIRE

    Botelho, Silvia; Oliveira, Gabriel; Drews, Paulo; Figueiredo, Monica; Haffele, Celina

    2010-01-01

    This work proposed a new approach to visual odometry and mapping of a underwater robot using only online visual information. This system can be used either in autonomous inspection tasks or in control assistance of robot closed-loop, in case of a human remote operator. A set of tests were performed under different underwater conditions. The effectiveness of our proposal was evaluated inside a set of real scenario, with different levels of turbidity, snow marine, non-uniform illumination and n...

  19. Sulphate reduction and vertical distribution of sulphate-reducing bacteria quantified by rRNA slot-blot hybridization in a coastal marine sediment

    DEFF Research Database (Denmark)

    Sahm, K.; MacGregor, BJ; Jørgensen, BB;

    1999-01-01

    In the past, enumeration of sulphate-reducing bacteria (SRB) by cultivation-based methods generally contradicted measurements of sulphate reduction, suggesting unrealistically high respiration rates per cell. Here, we report evidence that quantification of SRB rRNA by slot-blot hybridization......, directly above the sulphate reduction maximum. Cell numbers calculated by converting the relative contribution of SRB rRNA to the percentage of DAPI-stained cells indicated a population size for SRB of 2.4-6.1 x 10(8) cells cm(-3) wet sediment. Cellular sulphate reduction rates calculated on the basis...

  20. Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research

    OpenAIRE

    Philips, A.B.; Steenson, L.V.; Rogers, E.; Turnock, S.R.; Harris, C A; Furlong, M.

    2013-01-01

    Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary findings from the vehicle’s first fully autonomous video survey issions in Lough Erne, Northern Ireland. I...

  1. Marine genomics

    DEFF Research Database (Denmark)

    Oliveira Ribeiro, Ângela Maria; Foote, Andrew D.; Kupczok, Anne;

    2016-01-01

    Marine ecosystems occupy 71% of the surface of our planet, yet we know little about their diversity. Although the inventory of species is continually increasing, as registered by the Census of Marine Life program, only about 10% of the estimated two million marine species are known. This lag...

  2. 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...

  3. 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...

  4. Advanced Modular "All in One" Battery System with Intelligent Autonomous Cell Balancing Management

    Science.gov (United States)

    Petitdidier, X.; Pasquier, E.; Defer, M.; Koch, M.; Knorr, W.

    2008-09-01

    A new generation of energy storage systems based on Li-ion technology emerged at the end of the last century.To perform the first tests in safe conditions, Saft designed a simple electronic.Today, all Li-ion batteries for autonomous applications such as drones, launchers, missiles, torpedoes and "human" applications such as cellular, laptop, hybrid vehicle and nearly sub-marines need a Battery Management System.The minimum in terms of functions is the overcharge and over-discharge protections.For a battery made of 2 cells connected in series or more, a balancing system is added to maintain the available energy during all the life of the battery. For stringent/demanding applications, the state of charge and state of health are calculated by one or more computers.It is now time to take benefit of the past 10 years of Saft's experience in the domain to re-evaluate the constraints of Li-ion batteries and provide customers with improved products by optimizing the battery management.Benefits of electronic for satellite applications:• Full control over battery.• Confidence whatever the possible change of conditions in environment.• The battery system can resist long exposure to gradient conditions with mitigated and stabilized impact on performances.• The balancing function allow to use all the energy of all the cells: optimize of installed energy (compact design, mass saving). It started out with the basic fact that electrochemists are not intended to be space rated electronic experts and vice versa, even if Saft has a good heritage in the electronic battery management system. Consequently, considering heritage and expertise in their respective core businesses, Saft and ASP teamed up.It became necessary to provide an "all in one" modular energy storage system with intelligent autonomous cell balancing management.

  5. 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.

  6. 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...

  7. 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...

  8. 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...

  9. Resource-Optimal Planning For An Autonomous Planetary Vehicle

    Directory of Open Access Journals (Sweden)

    Giuseppe Della Penna

    2010-07-01

    Full Text Available Autonomous planetary vehicles, also known as rovers, are small autonomous vehicles equipped with a variety of sensors used to perform exploration and experiments on a planet’s surface. Rovers work in a partially unknown environment, with narrow energy/time/movement constraints and, typically, small computational resources that limit the complexity of on-line planning and scheduling, thus they represent a great challenge in the field of autonomous vehicles. Indeed, formal models for such vehicles usually involve hybrid systems with nonlinear dynamics, which are difficult to handle by most of the current planning algorithms and tools. Therefore, when offline planning of the vehicle activities is required, for example for rovers that operate without a continuous Earth supervision, such planning is often performed on simplified models that are not completely realistic. In this paper we show how the UPMurphi model checking based planning tool can be used to generate resource-optimal plans to control the engine of an autonomous planetary vehicle, working directly on its hybrid model and taking into account several safety constraints, thus achieving very accurate results.

  10. 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.

  11. 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.

  12. 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.

  13. The performance of hybrid titania/silica-derived xerogels as active antifouling/fouling-release surfaces against the marine alga Ulva linza: in situ generation of hypohalous acids.

    Science.gov (United States)

    Damon, Corey A; Gatley, Caitlyn M; Beres, Joshua J; Finlay, John A; Franco, Sofia C; Clare, Anthony S; Detty, Michael R

    2016-09-13

    Mixed titania/silica xerogels were prepared using titanium tetraisopropoxide (TTIP) and tetraethoxy orthosilicate (TEOS). Xerogel properties were modified by incorporating n-octyltriethoxysilane (C8). The xerogels catalyze the oxidation of bromide and chloride with hydrogen peroxide (H2O2) to produce hypohalous acids at pH 7 and pH 8. The antifouling/ fouling-release performance of a TTIP/C8/TEOS xerogel in the presence and absence of H2O2 was evaluated for the settlement of zoospores of the marine alga Ulva linza and for the removal of sporelings (young plants). In the absence of H2O2, differences in the settlement of zoospores and removal of sporelings were not significant relative to a titanium-free C8/TEOS xerogel. Addition of H2O2 gave a significant reduction in zoospore settlement and sporeling removal relative to the C8/TEOS xerogel and relative to peroxide-free conditions. The impact of TTIP on xerogel characteristics was evaluated by comprehensive contact angle analysis, scanning electron microscopy, and X-ray photoelectron spectroscopy. PMID:27458654

  14. 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…

  15. 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...

  16. 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...

  17. 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...

  18. 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.

  19. 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,

  20. Autonomous dielectric elastomer generator using electret

    Science.gov (United States)

    Vu-Cong, T.; Jean-Mistral, C.; Sylvestre, A.

    2013-04-01

    Dielectric elastomers can work as a variable capacitor to convert mechanical energy such as human motion into electrical energy. Nevertheless, scavengers based on dielectric elastomers require a high voltage source to polarize them, which constitutes the major disadvantage of these transducers. We propose here to combine dielectric elastomer with an electret, providing a quasi-permanent potential, thus replacing the high voltage supply. Our new scavenger is fully autonomous, soft, lightweight and low cost. Our structure is made of a dielectric elastomer (Polypower from Danfoss) and an electret developing a potential of -1000V (Teflon from Dupont). The transducer is designed specifically to scavenge energy from human motion. Thus, it works on pure-shear mode with maximum strain of about 50% and it is textured in 3D form because electret is not deformable. The shape of the hybrid structure is critical to insure huge capacitance variation and thus higher scavenged energy. We present in this paper our process for the optimization of the 3D shape that leads us to the developpment and characterization of our first prototype. From an appropriate electromechanical analytical model, an energy density of about 1.48mJ.g-1 is expected on an optimal electrical load. Our new autonomous dielectric generator can produce about 0.55mJ.g-1 on a resistive load, and can further be improved by enhancing the performance of dielectric elastomer such as dielectric permittivity or by increasing the electret potential.

  1. Marine biology

    International Nuclear Information System (INIS)

    This book discusses both taxonomic and ecological topics on marine biology. Full coverage of marine organisms of all five kingdoms is provided, along with interesting and thorough discussion of all major marine habitats. Organization into six major parts allows flexibility. It also provides insight into important topics such as disposal of nuclear waste at sea, the idea that life began on the ocean floor, and how whales, krill, and people interact. A full-color photo chapter reviews questions, and exercises. The contents are: an overview marine biology: fundamental concepts/investigating life in the ocean; the physical ocean, the ocean floor, the nature of water, the nature and motion of ocean water; general ecology, conditions for life in the sea, biological productivity and energy transfer; marine organisms; monera, protista, mycota and metaphyta; the smaller marine animals, the large animals marine habitats, the intertidal zone/benthos of the continental shelf, the photic zone, the deep ocean, the ocean under stress, marine pollution, appendix a: the metric system and conversion factors/ appendix b: prefixes and suffixes/ appendix c: taxonomic classification of common marine organisms, and glossary, and index

  2. Marine biology

    Energy Technology Data Exchange (ETDEWEB)

    Thurman, H.V.; Webber, H.H.

    1984-01-01

    This book discusses both taxonomic and ecological topics on marine biology. Full coverage of marine organisms of all five kingdoms is provided, along with interesting and thorough discussion of all major marine habitats. Organization into six major parts allows flexibility. It also provides insight into important topics such as disposal of nuclear waste at sea, the idea that life began on the ocean floor, and how whales, krill, and people interact. A full-color photo chapter reviews questions, and exercises. The contents are: an overview marine biology: fundamental concepts/investigating life in the ocean; the physical ocean, the ocean floor, the nature of water, the nature and motion of ocean water; general ecology, conditions for life in the sea, biological productivity and energy transfer; marine organisms; monera, protista, mycota and metaphyta; the smaller marine animals, the large animals marine habitats, the intertidal zone/benthos of the continental shelf, the photic zone, the deep ocean, the ocean under stress, marine pollution, appendix a: the metric system and conversion factors/ appendix b: prefixes and suffixes/ appendix c: taxonomic classification of common marine organisms, and glossary, and index.

  3. Autonomous operation of ac-dc microgrids with minimised interlinking energy flow

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Li, Ding; Chai, Yi Kang;

    2013-01-01

    Modern distributed sources can either be ac or dc. It is thus possible to form hybrid microgrids with both ac and dc sub-grids inter-tied by power converters. The resulting hybrid architecture allows loads to be flexibly placed, hence reducing the amount of power conversion needed. Hybrid...... microgrids can therefore be more efficient if controlled appropriately. For that, a droop scheme is now proposed for coordinating energy flows within the hybrid microgrids. The scheme operates autonomously and efficiently without demanding for fast communication links. The overall energy flow tuning and...

  4. 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.

  5. Marine Biomedicine

    Science.gov (United States)

    Bang, Frederik B.

    1977-01-01

    Describes early scientific research involving marine invertebrate pathologic processes that may have led to new insights into human disease. Discussed are inquiries of Metchnikoff, Loeb, and Cantacuzene (immunolgic responses in sea stars, horseshoe crabs, and marine worms, respectively). Describes current research stemming from these early…

  6. Autonomous Navigation with Constrained Consistency for C-Ranger

    Directory of Open Access Journals (Sweden)

    Shujing Zhang

    2014-06-01

    Full Text Available Autonomous underwater vehicles (AUVs have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM, are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past decades. In this paper, a consistency constrained extended Kalman filter (EKF SLAM algorithm, applying the idea of local consistency, is proposed and applied to the autonomous navigation of the C-Ranger AUV, which is developed as our experimental platform. The concept of local consistency (LC is introduced after an explicit theoretical derivation of the EKF-SLAM system. Then, we present a locally consistency- constrained EKF-SLAM design, LC-EKF, in which the landmark estimates used for linearization are fixed at the beginning of each local time period, rather than evaluated at the latest landmark estimates. Finally, our proposed LC- EKF algorithm is experimentally verified, both in simulations and sea trials. The experimental results show that the LC-EKF performs well with regard to consistency, accuracy and computational efficiency.

  7. Cellular identification of a novel uncultured marine stramenopile (MAST-12 Clade) small-subunit rRNA gene sequence from a norwegian estuary by use of fluorescence in situ hybridization-scanning electron microscopy.

    Science.gov (United States)

    Kolodziej, Karolina; Stoeck, Thorsten

    2007-04-01

    Revealing the cellular identity of organisms behind environmental eukaryote rRNA gene sequences is a major objective in microbial diversity research. We sampled an estuarine oxygen-depleted microbial mat in southwestern Norway and retrieved an 18S rRNA gene signature that branches in the MAST-12 clade, an environmental marine stramenopile clade. Detailed phylogenetic analyses revealed that MAST-12 branches among the heterotrophic stramenopiles as a sister of the free-living Bicosoecida and the parasitic genus Blastocystis. Specific sequence signatures confirmed a relationship to these two groups while excluding direct assignment. We designed a specific oligonucleotide probe for the target sequence and detected the corresponding organism in incubation samples using fluorescence in situ hybridization (FISH). Using the combined FISH-scanning electron microscopy approach (T. Stoeck, W. H. Fowle, and S. S. Epstein, Appl. Environ. Microbiol. 69:6856-6863, 2003), we determined the morphotype of the target organism among the very diverse possible morphologies of the heterotrophic stramenopiles. The unpigmented cell is spherical and about 5 mum in diameter and possesses a short flagellum and a long flagellum, both emanating anteriorly. The long flagellum bears mastigonemes in a characteristic arrangement, and its length (30 mum) distinguishes the target organism from other recognized heterotrophic stramenopiles. The short flagellum is naked and often directed posteriorly. The organism possesses neither a lorica nor a stalk. The morphological characteristics that we discovered should help isolate a representative of a novel stramenopile group, possibly at a high taxonomic level, in order to study its ultrastructure, physiological capabilities, and ecological role in the environment. PMID:17293516

  8. 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...

  9. 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...

  10. 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.

  11. 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.

  12. 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.

  13. Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system

    OpenAIRE

    Braman, Julia M. B.; Murray, Richard M.; Wagner, David A.

    2007-01-01

    Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System (MDS), developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbo...

  14. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments.

    Science.gov (United States)

    Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

    2016-07-26

    We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

  15. A star pattern recognition algorithm for autonomous attitude determination

    Science.gov (United States)

    Van Bezooijen, R. W. H.

    1990-01-01

    The star-pattern recognition algorithm presented allows the advanced Full-sky Autonomous Star Tracker (FAST) device, such as the projected ASTROS II system of the Mariner Mark II planetary spacecraft, to reliably ascertain attitude about all three axes. An ASTROS II-based FAST, possessing an 11.5 x 11.5 deg field of view and 8-arcsec accuracy, can when integrated with an all-sky data base of 4100 guide stars determine its attitude in about 1 sec, with a success rate close to 100 percent. The present recognition algorithm can also be used for automating the acquisition of celestial targets by astronomy telescopes, autonomously updating the attitude of gyro-based attitude control systems, and automating ground-based attitude reconstruction.

  16. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments.

    Science.gov (United States)

    Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

    2016-01-01

    We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

  17. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

    Directory of Open Access Journals (Sweden)

    Juan David Hernández

    2016-07-01

    Full Text Available We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV. To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

  18. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

    Science.gov (United States)

    Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

    2016-01-01

    We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

  19. Resource-Optimal Planning For An Autonomous Planetary Vehicle

    Directory of Open Access Journals (Sweden)

    Giuseppe Della Penna

    2010-07-01

    Full Text Available Autonomous planetary vehicles, also known as rovers, are small autonomous vehicles equipped with avariety of sensors used to perform exploration and experiments on a planet’s surface. Rovers work in apartially unknown environment, with narrow energy/time/movement constraints and, typically, smallcomputational resources that limit the complexity of on-line planning and scheduling, thus they representa great challenge in the field of autonomous vehicles. Indeed, formal models for such vehicles usuallyinvolve hybrid systems with nonlinear dynamics, which are difficult to handle by most of the currentplanning algorithms and tools. Therefore, when offline planning of the vehicle activities is required, forexample for rovers that operate without a continuous Earth supervision, such planning is often performedon simplified models that are not completely realistic. In this paper we show how the UPMurphi modelchecking based planning tool can be used to generate resource-optimal plans to control the engine of anautonomous planetary vehicle, working directly on its hybrid model and taking into account severalsafety constraints, thus achieving very accurate results.

  20. 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...

  1. 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.

  2. Autonomous Rover for Polar GPR Surveys

    Science.gov (United States)

    Ray, L.; Lever, J. H.; Courville, Z.; Walker, B.; Arcone, S. A.

    2015-12-01

    end waypoints. Interpreted features include crevasses up to 16 m wide with snowbridges up to 10 m thick and at least the upper 16 m of stratified marine basal ice. These autonomous GPR surveys could not have been conducted safely using manual methods owing to the numerous, thinly bridged crevasses. Such systematic, repetitious measurements can enhance other Polar research projects.

  3. 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.

  4. 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...

  5. 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.

  6. 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.

  7. Hybrid control based on sliding mode-dynamic recursive fuzzy neural network for marine electrical propulsion%滑模动态递归模糊神经网络船电推进复合控制

    Institute of Scientific and Technical Information of China (English)

    张桂臣; 马捷

    2011-01-01

    We propose a hybrid control(HC) strategy for the marine electrical podded propulsion system to eliminate the overshoot and obtain a fast and smooth dynamic response for the podded propulsion. HC consists of a robust sliding mode control(SMC) and a dynamic recursive fuzzy neural network control(DRFNNC). SMC uses the dead-zone nonlin-earity and error band method to tackle uncertainties and external disturbances; DRFNNC which has online self-learning algorithm forces the tracking error to approach zero. We build the hardware-in-loop simulation system of Siemens-Schottel-Propulsor(SSP) based on SEMOTION; the simulation and experimental results show that HC provides a fast and smooth dynamic response in both transient state and steady state, and improves the robustness and motion precision of the SSP system.%提出了船舶电力吊舱推进系统的复合控制策略,以消除吊舱推进的过冲现象并获得快速平滑的动态响应.复合控制由鲁棒滑模控制和动态递归模糊神经网络控制组成,鲁棒滑模控制利用死区非线性和误差边界厚度法,克服系统的不确定与外界扰动,具有在线自学习算法的动态递归模糊神经网络控制促使系统的跟踪误差趋近于0.建立了基于SIMOTION的半实物仿真Siemens-SchoRel推进器系统,仿真与实验结果表明,复合控制具有暂态快速和稳态平滑的动态响应,提高了吊舱推进系统的鲁棒性和运动精度.

  8. 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.

  9. 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

  10. 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.

  11. 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

  12. 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

  13. 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.

  14. 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.

  15. Biologically Inspired Behaviour Design for Autonomous Robotic Fish

    Institute of Scientific and Technical Information of China (English)

    Jin-Dong Liu; Huosheng Hu

    2006-01-01

    Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid control architecture for our autonomous robotic fish that consists of three layers: cognitive, behaviour and swim pattern. In this paper, we describe some main design issues of the behaviour layer, which is the centre of the layered control architecture of our robotic fish. Fuzzy logic control (FLC) is adopted here to design individual behaviours. Simulation and real experiments are presented to show the feasibility and the performance of the designed behaviour layer.

  16. 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.

  17. 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

  18. 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...

  19. 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 .

  20. 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....

  1. 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.

  2. 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...

  3. 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.

  4. 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.

  5. Marine Mammals.

    Science.gov (United States)

    Meith, Nikki

    Marine mammals have not only fascinated and inspired human beings for thousands of years, but they also support a big business by providing flesh for sea-borne factories, sustaining Arctic lifestyles and traditions, and attracting tourists to ocean aquaria. While they are being harpooned, bludgeoned, shot, netted, and trained to jump through…

  6. Marine localities

    NARCIS (Netherlands)

    Wagenaar Hummelinck, P.

    1977-01-01

    Some twenty-five years have passed since short descriptions were published of marine and saltpond habitats sampled in the Caribbean during three zoological collecting trips made by the author in 1930, 1936/37 and 1948/49 (these Studies, vol. 4, no. 17, 1953). Sampling of the shallow coastal waters o

  7. Stochastic Reachability Analysis of Hybrid Systems

    CERN Document Server

    Bujorianu, Luminita Manuela

    2012-01-01

    Stochastic reachability analysis (SRA) is a method of analyzing the behavior of control systems which mix discrete and continuous dynamics. For probabilistic discrete systems it has been shown to be a practical verification method but for stochastic hybrid systems it can be rather more. As a verification technique SRA can assess the safety and performance of, for example, autonomous systems, robot and aircraft path planning and multi-agent coordination but it can also be used for the adaptive control of such systems. Stochastic Reachability Analysis of Hybrid Systems is a self-contained and accessible introduction to this novel topic in the analysis and development of stochastic hybrid systems. Beginning with the relevant aspects of Markov models and introducing stochastic hybrid systems, the book then moves on to coverage of reachability analysis for stochastic hybrid systems. Following this build up, the core of the text first formally defines the concept of reachability in the stochastic framework and then...

  8. 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

  9. 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).

  10. Autonomic innervation of the heart. Role of molecular imaging

    Energy Technology Data Exchange (ETDEWEB)

    Slart, Riemer H.J.A; Elsinga, Philip H. [Univ. Medical Center Groningen (Netherlands). Nuclear Medicine and Molecular Imaging; Tio, Rene A. [Univ. Medical Center Groningen (Netherlands). Thorax Center Cardiology; Schwaiger, Markus (ed.) [Technische Univ. Muenchen Klinikum Rechts der Isar (Germany). Nuklearmedizinische Klinik

    2015-03-01

    Reviews in detail the value of SPECT-CT and PET-CT in the imaging of cardiac innervation. Details the role of imaging in a range of conditions and diseases. Includes important background on pathophysiology, tracers, radiopharmaceutical production, and kinetic modeling software. This book explains in detail the potential value of the hybrid modalities, SPECT-CT and PET-CT, in the imaging of cardiac innervation in a wide range of conditions and diseases, including ischemic heart disease, diabetes mellitus, heart failure, amyloidosis, heart transplantation, and ventricular arrhythmias. Imaging of the brain-heart axis in neurodegenerative disease and stress and of cardiotoxicity is also discussed. The roles of the various available tracers are fully considered, and individual chapters address radiopharmaceutical development under GMP, imaging physics, and kinetic modeling software. Highly relevant background information is included on the autonomic nervous system of the heart and its pathophysiology, and in addition future perspectives are discussed. Awareness of the importance of autonomic innervation of the heart for the optimal management of cardiac patients is growing, and there is an evident need for objective measurement techniques or imaging modalities. In this context, Autonomic Innervation of the Heart will be of wide interest to clinicians, researchers, and industry.

  11. Autonomic innervation of the heart. Role of molecular imaging

    International Nuclear Information System (INIS)

    Reviews in detail the value of SPECT-CT and PET-CT in the imaging of cardiac innervation. Details the role of imaging in a range of conditions and diseases. Includes important background on pathophysiology, tracers, radiopharmaceutical production, and kinetic modeling software. This book explains in detail the potential value of the hybrid modalities, SPECT-CT and PET-CT, in the imaging of cardiac innervation in a wide range of conditions and diseases, including ischemic heart disease, diabetes mellitus, heart failure, amyloidosis, heart transplantation, and ventricular arrhythmias. Imaging of the brain-heart axis in neurodegenerative disease and stress and of cardiotoxicity is also discussed. The roles of the various available tracers are fully considered, and individual chapters address radiopharmaceutical development under GMP, imaging physics, and kinetic modeling software. Highly relevant background information is included on the autonomic nervous system of the heart and its pathophysiology, and in addition future perspectives are discussed. Awareness of the importance of autonomic innervation of the heart for the optimal management of cardiac patients is growing, and there is an evident need for objective measurement techniques or imaging modalities. In this context, Autonomic Innervation of the Heart will be of wide interest to clinicians, researchers, and industry.

  12. Design and evaluation of a hierarchical control architecture for an autonomous underwater vehicle

    Institute of Scientific and Technical Information of China (English)

    BIAN Xin-qian; QIN Zheng; YAN Zhe-ping

    2008-01-01

    This paper researches on a kind of control architecture for autonomous underwater vehicle (AUV). After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers: mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture. The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.

  13. 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.

  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. Partial pressure (or fugacity) of carbon dioxide, salinity and other variables collected from time series observations using Bubble type equilibrator for autonomous carbon dioxide (CO2) measurement, Carbon dioxide (CO2) gas analyzer and other instruments from MOORINGS in the North Pacific Ocean and Olympic Coast National Marine Sanctuary from 2006-06-23 to 2013-09-05 (NODC Accession 0115322)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — NCEI Accession 0115322 includes time series data collected from MOORINGS in the North Pacific Ocean and Olympic Coast National Marine Sanctuary from 2006-06-23 to...

  19. Acoustics long-term passive monitoring using moored autonomous recorders in the Bering, Chukchi, and Western Beaufort Seas conducted by Alaska Fisheries Scientific Center, National Marine Mammal Laboratory from 2007-08-15 to 2015-04-30 (NCEI Accession 0143303)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The National Marine Mammal Laboratory (NMML) has deployed long-term passive acoustic recorders in various locations in Alaskan waters and in the High Arctic to...

  20. Partial pressure (or fugacity) of carbon dioxide, salinity and other variables collected from time series observations using Bubble type equilibrator for autonomous carbon dioxide (CO2) measurement, Carbon dioxide (CO2) gas analyzer and other instruments from the MOORINGS in the Gray's Reef National Marine Sanctuary and North Atlantic Ocean from 2006-07-18 to 2013-01-22 (NODC Accession 0109904)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — NODC Accession 0109904 includes chemical, physical and time series data collected from MOORINGS in the Gray's Reef National Marine Sanctuary and North Atlantic...

  1. Partial pressure (or fugacity) of carbon dioxide, salinity and other variables collected from time series observations using Bubble type equilibrator for autonomous carbon dioxide (CO2) measurement, Carbon dioxide (CO2) gas analyzer and other instruments from the MOORINGS in the North Pacific Ocean and Olympic Coast National Marine Sanctuary from 2010-07-16 to 2013-01-18 (NODC Accession 0100072)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — NODC Accession 0100072 includes chemical, physical and time series data collected from MOORINGS in the North Pacific Ocean and Olympic Coast National Marine...

  2. 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...

  3. 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...

  4. [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.

  5. 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...

  6. Dynamic Modeling and Motion Simulation for A Winged Hybrid-Driven Underwater Glider

    Institute of Scientific and Technical Information of China (English)

    WANG Shu-xin; SUN Xiu-jun; WANG Yan-hui; WU Jian-guo; WANG Xiao-ming

    2011-01-01

    PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV(autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.

  7. 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.

  8. 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.

  9. Advanced perception, navigation and planning for autonomous in-water ship hull inspection

    OpenAIRE

    Hover, Franz S.; Eustice, Ryan M.; Kim, Ayoung; Englot, Brendan J.; Johannsson, Hordur; Kaess, Michael; Leonard, John Joseph

    2013-01-01

    Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hull...

  10. AcMNPV e18基因酵母双杂交诱饵载体构建和转录自激活检测%Construction of an Yeast Two-Hybrid Bait Vector of Autographa californica Multiple Nucleopolyhedrovirus (AcMNPV) and Testing of Autonomous Transcriptional Activation

    Institute of Scientific and Technical Information of China (English)

    史瑞丽; 周晓伟; 黎路林

    2013-01-01

    The DNA sequence encoding an envelope protein,ODV-E18,of Autographa californica multiple nucleopolyhedrovirus (AcMNPV) was amplified by PCR and cloned into pGBKT7 to construct bait plasmid pGBKT7-e18 for yeast two-hybrid screening.The bait plasmid was used to transform yeast strains Y187 and AH109 respectively for assays on cytotoxity and autonomous transcriptional activation.Both transformed Y187 and AH109 cells formed white colonies on the plates with auxotroph SD/-Trp medium and X-gal,but could not grow on the plates with auxotroph SD/-Trp/-His or SD/-Trp/-Ade medium,showing that the BD-EI8 encoded by the bait plasmid could not activate transcription of the reporter genes.The Y187 cells transformed by the bait plasmid grew as fast as the ones transformed with the empty vector,indicating that BD-E18 was nontoxic to the cells.The results suggested that AcMNPV ODV-E18 is unlikely involved in regulation on transcription of host or virus genes,and that the coding sequence of El8 could be used as bait to screen a cDNA library of host insect for identification of proteins interacting with the viral protein.%用PCR方法扩增苜蓿银纹夜蛾核多角体病毒(Autographa californica multiple nueleopolyhedrovirus,AcMNPV)被膜蛋白ODV-E18基因,克隆至酵母双杂交诱饵栽体pGBKT7构建诱饵质粒pGBKT7-el8.将诱饵质粒分别转化酵母菌株Y187和AH109感受态细胞,被转化细胞在涂有X-gal的SD/-Trp营养缺陷型固体培养基上形成白色菌落;在SD/-Trp/-His和SD/-Trp/-Ade固体培养基上均不形成菌落,表明诱饵基因表达产物BD-E18在这两种细胞中都不能激活报告基因转录.pGBKT7-e18转化的Y187细胞在SD/-Trp营养缺陷型液体培养基中的生长速度与空载体转化细胞相同,显示BD-E18对酵母细胞无细胞毒性.结果表明,AcMNPV ODV-E18可能不直接参与对宿主细胞或病毒基因表达的调节,其编码基因可以作为诱饵基因通过筛查病毒宿主cDNA文库识别与其相互作用的蛋白质.

  11. Synthèse de copolymères diblocs par le procédé RAFT : Application pour revêtements anti-salissures marines hybrides FRC/SPC

    OpenAIRE

    Lejars, Marlène,

    2012-01-01

    Actuellement, il existe deux types de peintures anti-salissures marines sur le marché : - Les Self-Polishing Coatings (SPC), revêtements auto-polissants à base de liants polymères hydrolysables, efficaces par relargage de biocides dans le milieu marin mais toxiques pour l’environnement ; - Les Fouling Release Coatings (FRC), revêtements hydrophobes à base de silicone, sans biocides, qui limitent la force d’adhésion des salissures mais ne sont pas efficaces en mode statique.L’objectif de cette...

  12. Exact Verification of Hybrid Systems Based on Bilinear SOS Representation

    CERN Document Server

    Yang, Zhengfeng; Lin, Wang

    2012-01-01

    In this paper, we address the problem of safety verification of nonlinear hybrid systems and stability analysis of nonlinear autonomous systems. A hybrid symbolic-numeric method is presented to compute exact inequality invariants of hybrid systems and exact estimates of regions of attraction of autonomous systems efficiently. Some numerical invariants of a hybrid system or an estimate of region of attraction can be obtained by solving a bilinear SOS program via PENBMI solver or iterative method, then the modified Newton refinement and rational vector recovery techniques are applied to obtain exact polynomial invariants and estimates of regions of attraction with rational coefficients. Experiments on some benchmarks are given to illustrate the efficiency of our algorithm.

  13. 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...

  14. 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...

  15. 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....

  16. 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...

  17. 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...

  18. 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.

  19. 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.

  20. 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.

  1. Survivability design for a hybrid underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong [State Key Lab of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-03-10

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

  2. Active Marine Station Metadata

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Active Marine Station Metadata is a daily metadata report for active marine bouy and C-MAN (Coastal Marine Automated Network) platforms from the National Data...

  3. Marine fungi: A critique

    Digital Repository Service at National Institute of Oceanography (India)

    Raghukumar, S.; Raghukumar, C.

    Obligate marine fungi, those which grow and sporulate exclusively under marine conditions, have received all the attention from marine mycologists. Fungi originating from freshwater, or terrestrial environment and capable of growth and sporulation...

  4. Marine Lubricants

    Science.gov (United States)

    Carter, B. H.; Green, D.

    Marine diesel engines are classified by speed, either large (medium speed) or very large (slow speed) with high efficiencies and burning low-quality fuel. Slow-speed engines, up to 200 rpm, are two-stroke with separate combustion chamber and sump connected by a crosshead, with trunk and system oil lubricants for each. Medium-speed diesels, 300-1500 rpm, are of conventional automotive design with one lubricant. Slow-speed engines use heavy fuel oil of much lower quality than conventional diesel with problems of deposit cleanliness, acidity production and oxidation. Lubricants are mainly SAE 30/40/50 monogrades using paraffinic basestocks. The main types of additives are detergents/dispersants, antioxidants, corrosion inhibitors, anti-wear/load-carrying/ep, pour-point depressants and anti-foam compounds. There are no simple systems for classifying marine lubricants, as for automotive, because of the wide range of engine design, ratings and service applications they serve. There are no standard tests; lubricant suppliers use their own tests or the Bolnes 3DNL, with final proof from field tests. Frequent lubricant analyses safeguard engines and require standard sampling procedures before determination of density, viscosity, flash point, insolubles, base number, water and wear metal content.

  5. Intelligent autonomy for unmanned marine vehicles robotic control architecture based on service-oriented agents

    CERN Document Server

    Insaurralde, Carlos C

    2015-01-01

    This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.

  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 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.

  12. 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.

  13. 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.

  14. Navigation Behaviors Based on Fuzzy ArtMap Neural Networks for Intelligent Autonomous Vehicles

    OpenAIRE

    Amine Chohra; Ouahiba Azouaoui

    2011-01-01

    The use of hybrid intelligent systems (HISs) is necessary to bring the behavior of intelligent autonomous vehicles (IAVs) near the human one in recognition, learning, adaptation, generalization, decision making, and action. First, the necessity of HIS and some navigation approaches based on fuzzy ArtMap neural networks (FAMNNs) are discussed. Indeed, such approaches can provide IAV with more autonomy, intelligence, and real-time processing capabilities. Second, an FAMNN-based navigation appro...

  15. 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.

  16. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja

    2012-07-01

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

  17. 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.

  18. 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.

  19. 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,

  20. 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

  1. 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.

  2. Hybrid Metaheuristics

    CERN Document Server

    2013-01-01

    The main goal of this book is to provide a state of the art of hybrid metaheuristics. The book provides a complete background that enables readers to design and implement hybrid metaheuristics to solve complex optimization problems (continuous/discrete, mono-objective/multi-objective, optimization under uncertainty) in a diverse range of application domains. Readers learn to solve large scale problems quickly and efficiently combining metaheuristics with complementary metaheuristics, mathematical programming, constraint programming and machine learning. Numerous real-world examples of problems and solutions demonstrate how hybrid metaheuristics are applied in such fields as networks, logistics and transportation, bio-medical, engineering design, scheduling.

  3. 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.

  4. 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.

  5. Marine lakes of Indonesia

    NARCIS (Netherlands)

    Becking, Leontine Elisabeth

    2012-01-01

    The objective of this thesis was to obtain insight into the processes that play a role in biodiversity patterns of tropical marine species by using marine lakes as a model. Marine lakes are landlocked water bodies that maintain a marine character through narrow submarine connections to the sea. Two

  6. Environmentally Friendly Coating Technology for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Johnsey, Marissa N.; Jolley, Scott T.; Pearman, Benjamin P.; Zhang, Xuejun; Fitzpatrick, Lilliana; Gillis, Mathew; Blanton, Michael; Hanna, Joshua S.; Rawlins, James W.

    2016-01-01

    This work concerns the development of environmentally friendly encapsulation technology, specifically designed to incorporate corrosion indicators, inhibitors, and self-healing agents into a coating, in such a way that the delivery of the indicators and inhibitors is triggered by the corrosion process, and the delivery of self-healing agents is triggered by mechanical damage to the coating. Encapsulation of the active corrosion control ingredients allows the incorporation of desired autonomous corrosion control functions such as: early corrosion detection, hidden corrosion detection, corrosion inhibition, and self-healing of mechanical damage into a coating. The technology offers the versatility needed to include one or several corrosion control functions into the same coating.The development of the encapsulation technology has progressed from the initial proof-of-concept work, in which a corrosion indicator was encapsulated into an oil-core (hydrophobic) microcapsule and shown to be delivered autonomously, under simulated corrosion conditions, to a sophisticated portfolio of micro carriers (organic, inorganic, and hybrid) that can be used to deliver a wide range of active corrosion ingredients at a rate that can be adjusted to offer immediate as well as long-term corrosion control. The micro carriers have been incorporated into different coating formulas to test and optimize the autonomous corrosion detection, inhibition, and self-healing functions of the coatings. This paper provides an overview of progress made to date and highlights recent technical developments, such as improved corrosion detection sensitivity, inhibitor test results in various types of coatings, and highly effective self-healing coatings based on green chemistry.

  7. Autonomous intelligent robotic manipulator for on-orbit servicing

    Science.gov (United States)

    Larouche, Benoit P.

    The doctoral research is to develop an autonomous intelligent robotic manipulator technology for on-orbit servicing (OOS). More specifically, the research is focused on one of the most critical tasks in OOS- the capture of a non-cooperative object whilst minimizing impact forces and accelerations. The objective of the research is: the development of a vision-based control theory, and the implementation and testing of the developed theory by designing and constructing a custom non-redundant holonomic robotic manipulator. The research validated the newly developed control theory and its ability to (i) capture a moving target autonomously and (ii) minimize unfavourable contact dynamics during the most critical parts of the capture operations between the capture satellite and a non-cooperative/tumbling object. A custom robotic manipulator functional prototype has been designed, assembled, constructed, and programmed from concept to completion in order to provide full customizability and controllability in both the hardware and the software. Based on the test platform, a thorough experimental investigation has been conducted to validate the newly developed control methodologies to govern the behaviour of the robotic manipulators (RM) in an autonomous capture. The capture itself is effected on non-cooperative targets in zero-gravity simulated environment. The RM employs a vision system, force sensors, and encoders in order to sense its environment. The control is effected through position and pseudo-torque inputs to three stepper motors and three servo motors. The controller is a modified hybrid force/neural network impedance controller based on N. Hogan's original work. The experimental results demonstrate the set objectives of this thesis have been successfully achieved.

  8. Hybrid intermediaries

    OpenAIRE

    Cetorelli, Nicola

    2014-01-01

    I introduce the concept of hybrid intermediaries: financial conglomerates that control a multiplicity of entity types active in the "assembly line" process of modern financial intermediation, a system that has become known as shadow banking. The complex bank holding companies of today are the best example of hybrid intermediaries, but I argue that financial firms from the "nonbank" space can just as easily evolve into conglomerates with similar organizational structure, thus acquiring the cap...

  9. Hybrid coordination of reinforcement learning-based behaviors for AUV control

    OpenAIRE

    Carreras Pérez, Marc; Batlle i Grabulosa, Joan; Ridao Rodríguez, Pere

    2001-01-01

    This paper proposes a hybrid coordination method for behavior-based control architectures. The hybrid method takes advantages of the robustness and modularity in competitive approaches as well as optimized trajectories in cooperative ones. This paper shows the feasibility of applying this hybrid method with a 3D-navigation to an autonomous underwater vehicle (AUV). The behaviors are learnt online by means of reinforcement learning. A continuous Q-learning implemented with a feed-forward neura...

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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?

  1. Autonomous kinematic calibration for robot with force sensor

    Science.gov (United States)

    Zhao, Dongbo; Xiong, Youlun

    1995-08-01

    This paper presents an autonomous calibration procedure for identifying robot geometric parameters using a wrist force sensor, which guides the robot end effector to track the section contour of an accurately cylindrical workpiece and to find its center. The information from the wrist sensor is needed to determine the motion direction for the end effector and to generate control strategy (hybrid control law of position and force), meanwhile the force vector is required to correct the deformation of the manipulator, which maps in turn into the joint differential vector. The system of constraint equation is in fact nonlinear, and can be linearized for the constraint surface of the cylinder. Simulation has been performed for a PUMA 760 robot and the result shows that the robot positioning accuracy can be improved to the level of the repeatability by the proposed calibration method.

  2. 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.

  3. Programmable and autonomous computing machine made of biomolecules

    Science.gov (United States)

    Benenson, Yaakov; Paz-Elizur, Tamar; Adar, Rivka; Keinan, Ehud; Livneh, Zvi; Shapiro, Ehud

    2001-11-01

    Devices that convert information from one form into another according to a definite procedure are known as automata. One such hypothetical device is the universal Turing machine, which stimulated work leading to the development of modern computers. The Turing machine and its special cases, including finite automata, operate by scanning a data tape, whose striking analogy to information-encoding biopolymers inspired several designs for molecular DNA computers. Laboratory-scale computing using DNA and human-assisted protocols has been demonstrated, but the realization of computing devices operating autonomously on the molecular scale remains rare. Here we describe a programmable finite automaton comprising DNA and DNA-manipulating enzymes that solves computational problems autonomously. The automaton's hardware consists of a restriction nuclease and ligase, the software and input are encoded by double-stranded DNA, and programming amounts to choosing appropriate software molecules. Upon mixing solutions containing these components, the automaton processes the input molecule via a cascade of restriction, hybridization and ligation cycles, producing a detectable output molecule that encodes the automaton's final state, and thus the computational result. In our implementation 1012 automata sharing the same software run independently and in parallel on inputs (which could, in principle, be distinct) in 120μl solution at room temperature at a combined rate of 109 transitions per second with a transition fidelity greater than 99.8%, consuming less than 10-10W.

  4. Marine lakes of Indonesia

    OpenAIRE

    Becking, Leontine Elisabeth

    2012-01-01

    The objective of this thesis was to obtain insight into the processes that play a role in biodiversity patterns of tropical marine species by using marine lakes as a model. Marine lakes are landlocked water bodies that maintain a marine character through narrow submarine connections to the sea. Two regions in Indonesia were studied: Berau (East Kalimantan) and Raja Ampat (West Papua). The following questions were addressed: 1. What are the different types of marine lakes in Indonesia? 2. Are ...

  5. Marine-Lenhart syndrome with papillary thyroid carcinoma

    Directory of Open Access Journals (Sweden)

    Hulusi Atmaca

    2015-01-01

    Full Text Available Graves′ disease with accompanying functioning nodules is known as Marine-Lenhart syndrome. Autonomously functioning thyroid nodules (AFTNs also within Graves′ thyroid tissue are almost always bening in nature. A 45-year-old man developed hyperthyroidism due to the coexistence of Graves′ disease and AFTN. Total thyroidectomy was performed. The hyperfunctioning nodule with centrally hypoactive foci detected by technetium-99m thyroid scanning was histologically diagnosed as papillary thyroid carcinoma that was 2.5 cm in diameter. We report the presence of papillary thyroid carcinoma within AFTN in patients with Marine-Lenhart syndrome, which has not been reported so far.

  6. 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.

  7. European coatings conference - Marine coatings. Proceedings

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2008-07-01

    This volume contains 13 lectures (manuscripts or powerpoint foils) with the following topics: 1. Impact of containerization on polyurethane and polyurea in marine and protective coatings (Malte Homann); 2. The application of combinatorial/high-throughput methods to the development of marine coatings (Bret Chisholm); 3. Progress and perspectives in the AMBIO (advanced nanostructured surfaces for the control of biofouling) Project (James Callow); 4. Release behaviour due to shear and pull-off of silicone coatings with a thickness gradient (James G. Kohl); 5. New liquid rheology additives for high build marine coatings (Andreas Freytag); 6. Effective corrosion protection with polyaniline, polpyrrole and polythiophene as anticorrosice additives for marine paints (Carlos Aleman); 7. Potential applications of sol gel technology for marine applications (Robert Akid); 8: Performance of biocide-free Antifouling Coatings for leisure boats (Bernd Daehne); 9. Novel biocidefree nanostructured antifouling coatings - can nano do the job? (Corne Rentrop); 10. One component high solids, VOC compliant high durability finish technology (Adrian Andrews); 11. High solid coatings - the hybrid solution (Luca Prezzi); 12. Unique organofunctional silicone resins for environmentally friendly high-performance coatings (Dieter Heldmann); 13. Silicone-alkyd paints for marine applications: from battleship-grey to green (Thomas Easton).

  8. 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.

  9. 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...

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

    Science.gov (United States)

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

    1994-01-01

    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  11. 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...

  12. 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

  13. 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

  14. 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

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. 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.

  2. 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...

  3. 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...

  4. Hybride betongkonstruksjoner

    OpenAIRE

    Bjerve, Tor Øystein

    2010-01-01

    Denne oppgaven tar for seg beregning og testing av hybride betongkonstruksjoner. Den inneholder også beskrivelse av materialtester. Bjelkene som testes er tenkt å være utsnitt av dekkekonstruksjoner. Konstruksjonene skal bestå av et lag fiberarmert lettbetong, som er tenkt å opptre som en prefabrikert betongforskaling, samt en påstøp som kan fungere som ferdig gulv.I teoridelen av oppgaven er det sett på utfordringer og fordeler ved å benytte hybride konstruksjoner. I tillegg er beregningsvei...

  5. 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.

  6. 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.

  7. 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

  8. 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...

  9. 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.

  10. 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.

  11. 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. ...

  12. 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...

  13. 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...

  14. 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.

  15. 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...

  16. 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...

  17. 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...

  18. 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...

  19. 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...

  20. 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.

  1. Supermarket Marine Biology.

    Science.gov (United States)

    Colby, Jennifer A.; And Others

    1995-01-01

    Describes a survey used to determine the availability of intact marine vertebrates and live invertebrates in supermarkets. Results shows that local supermarkets frequently provide a variety of intact marine organisms suitable for demonstrations, experiments, or dissections. (ZWH)

  2. Marine Jurisdiction Boundaries

    Data.gov (United States)

    Department of Homeland Security — The NOAA Coastal Services Center's Marine Jurisdiction dataset was created to assist in marine spatial planning and offshore alternative energy sitting. This is a...

  3. Frontiers of marine science

    OpenAIRE

    Webb, T. J.; Poloczanska, E. S.

    2011-01-01

    On 9–13 October 2010 early career scientists from the UK and Australia across marine research fields were given the opportunity to come together in Perth, Australia to discuss the frontiers of marine research and exchange ideas.

  4. Mariner 10 Image Archive

    Data.gov (United States)

    National Aeronautics and Space Administration — The Mariner 10 Image Archive includes tools to view shaded relief maps of the surface of Mercury, a 3D globe, and all images acquired by NASA's Mariner 10 mission.

  5. Marine Mammal Protection Act

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Marine Mammal Protection Act (MMPA or Act) prohibits, with certain exceptions, the "take" of marine mammals in U.S. waters and by U.S. citizens on the high...

  6. MarineCadastre.gov

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — MarineCadastre.gov is a marine information system that provides authoritative ocean data, offshore planning tools, and technical support to the offshore renewable...

  7. Tsunamis and marine life

    Digital Repository Service at National Institute of Oceanography (India)

    Rao, D.V.S.; Ingole, B.S.; Tang, D.; Satyanarayan, B.; Zhao, H.

    The 26 December 2004 tsunami in the Indian Ocean exerted far reaching temporal and spatial impacts on marine biota. Our synthesis was based on satellite data acquired by the Laboratory for Tropical Marine Environmental Dynamics (LED) of the South...

  8. [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.

  9. Hybrid Qualifications

    DEFF Research Database (Denmark)

    has turned out as a major focus of European education and training policies and certainly is a crucial principle underlying the European Qualifications Framework (EQF). In this context, «hybrid qualifications» (HQ) may be seen as an interesting approach to tackle these challenges as they serve «two...

  10. Carotenoids in Marine Animals

    OpenAIRE

    Takashi Maoka

    2011-01-01

    Marine animals contain various carotenoids that show structural diversity. These marine animals accumulate carotenoids from foods such as algae and other animals and modify them through metabolic reactions. Many of the carotenoids present in marine animals are metabolites of β-carotene, fucoxanthin, peridinin, diatoxanthin, alloxanthin, and astaxanthin, etc. Carotenoids found in these animals provide the food chain as well as metabolic pathways. In the present review, I will describe marine a...

  11. Marine Education Knowledge Inventory.

    Science.gov (United States)

    Hounshell, Paul B.; Hampton, Carolyn

    This 35-item, multiple-choice Marine Education Knowledge Inventory was developed for use in upper elementary/middle schools to measure a student's knowledge of marine science. Content of test items is drawn from oceanography, ecology, earth science, navigation, and the biological sciences (focusing on marine animals). Steps in the construction of…

  12. 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.

  13. 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)).

  14. 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.

  15. 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

  16. Challenges in marine instrumentation

    Digital Repository Service at National Institute of Oceanography (India)

    Afzulpurkar, S.; Desa, E.; Joseph, A.; Chakraborty, B.; Nayak, M.R.; Ranade, G.

    . Acoustic and optical instrumentation combined on the same platform would be able to address these problems. For this autonomous vehicles with extremely low power requirements, long term deployment and data transmission capability via satellites after...

  17. Carotenoids in Marine Animals

    Directory of Open Access Journals (Sweden)

    Takashi Maoka

    2011-02-01

    Full Text Available Marine animals contain various carotenoids that show structural diversity. These marine animals accumulate carotenoids from foods such as algae and other animals and modify them through metabolic reactions. Many of the carotenoids present in marine animals are metabolites of β-carotene, fucoxanthin, peridinin, diatoxanthin, alloxanthin, and astaxanthin, etc. Carotenoids found in these animals provide the food chain as well as metabolic pathways. In the present review, I will describe marine animal carotenoids from natural product chemistry, metabolism, food chain, and chemosystematic viewpoints, and also describe new structural carotenoids isolated from marine animals over the last decade.

  18. A synthetic autonomous rotary nanomotor made from and fuelled by DNA

    CERN Document Server

    Dunn, Katherine E

    2015-01-01

    DNA nanostructures are made using synthetic DNA strands, the sequences of which are designed such that they will self-assemble into the desired form by hybridization of complementary domains. Various structures and devices have been presented, including DNA tweezers, nanorobots and a range of linear motors such as bipedal walkers. Inspiration for the latter is drawn from naturally occurring molecular motors like kinesin. This paper describes a concept for an autonomous rotary nanomotor made from DNA, which utilizes the well-known and widely-studied phenomenon of toehold-mediated DNA strand displacement. The motor is to be driven by a series of strand displacement reactions, the order of which is controlled by steric constraints arising from the secondary structure of the DNA strands comprising the motor mechanism. The capabilities of DNA motors would be extended significantly if autonomous rotary motion could be achieved. The device has a range of potential applications, including molecular computation and si...

  19. The Australian Integrated Marine Observing System

    Science.gov (United States)

    Proctor, R.; Meyers, G.; Roughan, M.; Operators, I.

    2008-12-01

    currents and water properties (Moorings, Ocean Gliders and HF Radar) and three for coastal ecosystems (Acoustic Tagging and Tracking, Autonomous Underwater Vehicle and a biophysical sensor network on the Great Barrier Reef). The value from this infrastructure investment lies in the coordinated deployment of a wide range of equipment aimed at deriving critical data sets that serve multiple applications. Additional information on IMOS is available at the website (http://www.imos.org.au). The IMOS Operators are Australian Institute of Marine Science, James Cook University, Sydney Institute of Marine Science, Geoscience Australia, Bureau of Meteorology, South Australia Research and Development Institute, University of Western Australia, Curtin University of Technology, CSIRO Marine and Atmospheric Research, University of Tasmania.

  20. 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.

  1. 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.

  2. 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.

  3. Hybrid microelectronic technology

    Science.gov (United States)

    Moran, P.

    Various areas of hybrid microelectronic technology are discussed. The topics addressed include: basic thick film processing, thick film pastes and substrates, add-on components and attachment methods, thin film processing, and design of thick film hybrid circuits. Also considered are: packaging hybrid circuits, automating the production of hybrid circuits, application of hybrid techniques, customer's view of hybrid technology, and quality control and assurance in hybrid circuit production.

  4. Genetic population structure of turbot ( Scophthalmus maximus L.) supports the presence of multiple hybrid zones for marine fishes in the transition zone between the Baltic Sea and the North Sea

    DEFF Research Database (Denmark)

    Eg Nielsen, Einar; Nielsen, P.H.; Meldrup, Dorte;

    2004-01-01

    Genetic population structure of turbot (Scophthalmus maximus L.) in the Northeast Atlantic was investigated using eight highly variable microsatellite loci. In total 706 individuals from eight locations with temporal replicates were assayed, covering an area from the French Bay of Biscay to the A......Genetic population structure of turbot (Scophthalmus maximus L.) in the Northeast Atlantic was investigated using eight highly variable microsatellite loci. In total 706 individuals from eight locations with temporal replicates were assayed, covering an area from the French Bay of Biscay...... to the Aaland archipelago in the Baltic Sea. In contrast to previous genetic studies of turbot, we found significant genetic differentiation among samples with a maximum pairwise F-ST of 0.032. Limited or no genetic differentiation was found among samples within the Atlantic/North Sea area and within the Baltic...... Sea, suggesting high gene flow among populations in these areas. In contrast, there was a sharp cline in genetic differentiation going from the low saline Baltic Sea to the high saline North Sea. The data were explained best by two divergent populations connected by a hybrid zone; however...

  5. 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...

  6. 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.

  7. 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.

  8. 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

  9. 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....

  10. 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...

  11. 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.

  12. 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.

  13. 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...

  14. 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

  15. 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

  16. 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.

  17. 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.

  18. Autonomous control of distributed storages in microgrids

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Blaabjerg, Frede

    2011-01-01

    Operation of distributed generators in microgrids has widely been discussed, but would not be fully autonomous, if distributed storages are not considered. Storages in general are important, since they provide energy buffering to load changes, energy leveling to source variations and ride......-through enhancement to the overall microgrids. Recognizing their importance, this paper presents a scheme for sharing power among multiple distributed storages, in coordination with the distributed sources and loads. The scheme prompts the storages to autonomously sense for system conditions, requesting for maximum...

  19. Towards Autonomous Control of HVAC Systems

    DEFF Research Database (Denmark)

    Brath, P.

    This thesis considered development of an autonomous control system for heating ventilation and air conditioning applications. By including auto-tuning, adaptation, diagnosis and supervision functions in the control system used in the HVAC industry will move the control of HVAC systems towards...... autonomous control. Together with better tuned controllers and more dedicated control it would be possible to decrease the energy consumption, save money and increase the indoor air climate. A flexible HVAC test system was designed and implemented. Standard components and sensors were used in the design...... experiments on the HVAC test system and by using simulations....

  20. Evolutionary strategy for achieving autonomous navigation

    Science.gov (United States)

    Gage, Douglas W.

    1999-01-01

    An approach is presented for the evolutionary development of supervised autonomous navigation capabilities for small 'backpackable' ground robots, in the context of a DARPA- sponsored program to provide robotic support to small units of dismounted warfighters. This development approach relies on the implementation of a baseline visual serving navigation capability, including tools to support operator oversight and override, which is then enhanced with semantically referenced commands and a mission scripting structure. As current and future machine perception techniques are able to automatically designate visual serving goal points, this approach should provide a natural evolutionary pathway to higher levels of autonomous operation and reduced requirements for operator intervention.

  1. Blunted autonomic response in cluster headache patients

    DEFF Research Database (Denmark)

    Barloese, Mads; Brinth, Louise; Mehlsen, Jesper;

    2015-01-01

    BACKGROUND: Cluster headache (CH) is a disabling headache disorder with chronobiological features. The posterior hypothalamus is involved in CH pathophysiology and is a hub for autonomic control. We studied autonomic response to the head-up tilt table test (HUT) including heart rate variability...... (HRV) in CH patients and compared results to healthy controls. METHODS AND MATERIALS: Twenty-seven episodic and chronic CH patients and an equal number of age-, sex- and BMI-matched controls were included. We analyzed responses to HUT in the time and frequency domain and by non-linear analysis. RESULTS...

  2. Emerging Technologies for Autonomous Language Learning

    Directory of Open Access Journals (Sweden)

    Mark Warschauer

    2011-09-01

    Full Text Available Drawing on a lengthier review completed for the US National Institute for Literacy, this paper examines emerging technologies that are applicable to self-access and autonomous learning in the areas of listening and speaking, collaborative writing, reading and language structure, and online interaction. Digital media reviewed include podcasts, blogs, wikis, online writing sites, text-scaffolding software, concordancers, multiuser virtual environments, multiplayer games, and chatbots. For each of these technologies, we summarize recent research and discuss possible uses for autonomous language learning.

  3. Autonomous control of multi-fingered hand

    Institute of Scientific and Technical Information of China (English)

    JIANG Li; LIU Hong

    2006-01-01

    This paper describes a novel autonomous control strategy of multi-fingered hand based on a modular control system of dexterous manipulation. A simple proportional-integral-derivative(PID) position control with friction compensation, which requires few friction parameters, is used to realize accurate and smooth trajectory tracking in pregrasp phase. In grasp and manipulation phases, an event-driven switcher is adopted to determine the switching between unconstrained position control and constrained torque control, and an improved explicit integral force control strategy is implemented to realize simultaneously stable contact transition and accurate force tracking. Experimental results have verified the effectiveness of the proposed autonomous control strategy of multi-fingered hand.

  4. Implementation of the quantified judgment model to examine the impact of human factors on Marine Corps Distributed Operations

    OpenAIRE

    Desmond, Matthew S.

    2007-01-01

    Human Systems Integration Report The Distributed Operations (DO) concept is designed to answer the challenge of covert, highly adaptable, enemies operating with a dispersed command structure. The human variance that is part of military combat presents a critical challenge to the United States Marine Corps in the implementation of the DO concept. In addition to all current capabilities a DO Marine unit would have the additional capability of operating in smaller, more autonomous units, a...

  5. A Priori User Acceptance and the Perceived Driving Pleasure in Semi-autonomous and Autonomous Vehicles

    DEFF Research Database (Denmark)

    Bjørner, Thomas

    The aim of this minor pilot study is, from a sociological user perspective, to explore a priori user acceptance and the perceived driving pleasure in semi- autonomous and autonomous vehicles. The methods used were 13 in-depth interviews while having participants watch video examples within four...... different scenarios. After each scenario, two different numerical rating scales were used. There was a tendency toward positive attitudes regarding semi- autonomous driving systems, especially the use of a parking assistant and while driving in city traffic congestion. However, there were also major...

  6. Planning the Minimum Time and Optimal Survey Trajectory for Autonomous Underwater Vehicles in Uncertain Current

    Directory of Open Access Journals (Sweden)

    Michael A. Hurni

    2015-12-01

    Full Text Available The authors develop an approach to a “best” time path for Autonomous Underwater Vehicles conducting oceanographic measurements under uncertain current flows. The numerical optimization tool DIDO is used to compute hybrid minimum time and optimal survey paths for a sample of currents between ebb and flow. A simulated meta-experiment is performed where the vehicle traverses the resulting paths under different current strengths per run. The fastest elapsed time emerges from a payoff table. A multi-objective function is then used to weigh the time to complete a mission versus measurement inaccuracy due to deviation from the desired survey path.

  7. Hybrid Qualifications

    DEFF Research Database (Denmark)

    has turned out as a major focus of European education and training policies and certainly is a crucial principle underlying the European Qualifications Framework (EQF). In this context, «hybrid qualifications» (HQ) may be seen as an interesting approach to tackle these challenges as they serve «two...... masters», i.e. by producing skills for the labour market and enabling individuals to progress more or less directly to higher education. The specific focus of this book is placed on conditions, structures and processes which help to combine VET with qualifications leading into higher education...

  8. Marine Environmental History

    DEFF Research Database (Denmark)

    Poulsen, Bo

    2012-01-01

    This essay provides an overview of recent trends in the historiography of marine environmental history, a sub-field of environmental history which has grown tremendously in scope and size over the last c. 15 years. The object of marine environmental history is the changing relationship between...... human society and natural marine resources. Within this broad topic, several trends and objectives are discernable. The essay argue that the so-called material marine environmental history has its main focus on trying to reconstruct the presence, development and environmental impact of past fisheries...... and whaling operations. This ambition often entails a reconstruction also of how marine life has changed over time. The time frame rages from Paleolithicum to the present era. The field of marine environmental history also includes a more culturally oriented environmental history, which mainly has come...

  9. Advances in autonomous systems for space exploration missions

    Science.gov (United States)

    Smith, B. D.; Gross, A. R.; Clancy, D. J.; Cannon, H. N.; Barrett, A.; Mjolssness, E.; Muscettola, N.; Chien, S.; Johnson, A.

    2001-01-01

    This paper focuses on new and innovative software for remote, autonomous, space systems flight operation, including distributed autonomous systems, flight test results, and implications and directions for future systems.

  10. A Rare Association of Trigeminal Autonomic Cephalgia: Pontine Capillary Telangiectasia

    OpenAIRE

    Gocmen, Rahsan; Kurt, Erdal; Arslan, Sabina; Unal-Cevik, Isin; Karli Oguz, Kader; Tezer, F Irsel

    2015-01-01

    This report describes a case of pontine capillary telangiectasia in a 43-year-old woman with a clinical diagnosis of trigeminal autonomic cephalgia. The possible association with pontine capillary telangiectasia and trigeminal autonomic cephalgia is discussed.

  11. Marine Indole Alkaloids

    Directory of Open Access Journals (Sweden)

    Natalie Netz

    2015-08-01

    Full Text Available Marine indole alkaloids comprise a large and steadily growing group of secondary metabolites. Their diverse biological activities make many compounds of this class attractive starting points for pharmaceutical development. Several marine-derived indoles were found to possess cytotoxic, antineoplastic, antibacterial and antimicrobial activities, in addition to the action on human enzymes and receptors. The newly isolated indole alkaloids of marine origin since the last comprehensive review in 2003 are reported, and biological aspects will be discussed.

  12. Risks In Marine Insurance

    OpenAIRE

    Jelena Grdinic

    2008-01-01

    The author of this paper elaborates risks in marine insurance. Firstly, the author primarily specifies the concept, types and basic characteristics of risks, emphasizing specifics of marine risk in relation to general risks. The author particularly considers determination of risk according to our legal regulations and English Marine Insurance Act, as the most important act in this matter. Special attention is paid to insured risk according to the most recent standard conditions for insurance ...

  13. Marine Current Energy Conversion

    OpenAIRE

    Lundin, Staffan

    2016-01-01

    Marine currents, i.e. water currents in oceans and rivers, constitute a large renewable energy resource. This thesis presents research done on the subject of marine current energy conversion in a broad sense. A review of the tidal energy resource in Norway is presented, with the conclusion that tidal currents ought to be an interesting option for Norway in terms of renewable energy. The design of marine current energy conversion devices is studied. It is argued that turbine and generator cann...

  14. Marine electrical practice

    CERN Document Server

    Watson, G O

    1991-01-01

    Marine Engineering Series: Marine Electrical Practice, Sixth Edition focuses on changes in the marine industry, including the application of programmable electronic systems, generators, and motors. The publication first ponders on insulation and temperature ratings of equipment, protection and discrimination, and AC generators. Discussions focus on construction, shaft-drive generators, effect of unbalanced loading, subtransient and transient reactance, protection discrimination, fault current, measurement of ambient air temperature, and basis of machine ratings. The text then examines AC switc

  15. Coastal & Marine Issues Survey

    OpenAIRE

    Sidman, Charles; Fik, Tim; Havens, Karl

    2008-01-01

    Florida Sea Grant management and extension specialists developed a questionnaire to solicit information regarding the recipient’s county of residence, occupation, and primary coastal activities. Survey recipients were also asked to select from a list the top five marine-related topics that defined prior strategic plan themes (i.e., marine bio-technology, fisheries, aquaculture, seafood safety, coastal communities, ecosystem health, coastal hazards, and marine education). In add...

  16. Marine Ecological Regions 2000

    Data.gov (United States)

    California Department of Resources — This shapefile was screen digitized from 'Calecoregions1.jpg' a georectified digital image of the original map of California's ecoregions, including the marine...

  17. College English Students’ Autonomous Learning Motivation and Cultivation Model Research

    Institute of Scientific and Technical Information of China (English)

    王艳荣; 李娥

    2015-01-01

    Studying the autonomous learning motivation and excitation model can stimulate intrinsic motivation of foreign language learners,develop students self-management strategy evaluation are very necessary.The purpose of this paper is to give students the skills of listening and speaking for their autonomous learning.Then study the cultivation and motivation of college English students autonomous learning,hoping to make students to learn autonomous learning and stimulate their motivation fully.

  18. Geometric integration of non-autonomous Hamiltonian problems

    OpenAIRE

    Marthinsen, Håkon; Owren, Brynjulf

    2014-01-01

    Symplectic integration of autonomous Hamiltonian systems is a well-known field of study in geometric numerical integration, but for non-autonomous systems the situation is less clear, since symplectic structure requires an even number of dimensions. We show that one possible extension of symplectic methods in the autonomous setting to the non-autonomous setting is obtained by using canonical transformations. Many existing methods fit into this framework. We also perform experiments which indi...

  19. Engineering an Ontology for Autonomous Systems - The OASys Ontology

    OpenAIRE

    Bermejo Alonso, Julita; Sanz Bravo, Ricardo; Rodríguez, Manuel; Hernández Corbato, Carlos

    2011-01-01

    This paper describes the development of an ontology for autonomous systems, as the initial stage of a research programe on autonomous systems’ engineering within a model-based control approach. The ontology aims at providing a unified conceptual framework for the autonomous systems’ stakeholders, from developers to software engineers. The modular ontology contains both generic and domain-specific concepts for autonomous systems description and engineering. The ontology serves as the basis in a ...

  20. A programming model and execution environment for autonomous systems

    OpenAIRE

    Razafimahefa, Chrislain

    2004-01-01

    This thesis presents the design and implementation of a programming model for autonomous systems. Autonomous systems are distributed systems based on wireless networks, mobile devices and the Internet. They are characterized by the high dynamics with which their configuration evolves. Ad hoc networks, a member of autonomous systems, illustrate this point since in these networks participants can join and leave at any time. Similarly in Peer-to-Peer networks, another member of autonomous system...

  1. Intuitionistic hybrid logic

    DEFF Research Database (Denmark)

    Braüner, Torben

    2011-01-01

    Intuitionistic hybrid logic is hybrid modal logic over an intuitionistic logic basis instead of a classical logical basis. In this short paper we introduce intuitionistic hybrid logic and we give a survey of work in the area....

  2. Small nuclear reactor safety design requirements for autonomous operation

    International Nuclear Information System (INIS)

    Small nuclear power reactors offer compelling safety advantages in terms of the limited consequences that can arise from major accident events and the enhanced ability to use reliable, passive means to eliminate their occurrence by design. Accordingly, for some small reactor designs featuring a high degree of safety autonomy, it may be-possible to delineate a ''safety envelope'' for a given set of reactor circumstances within which safe reactor operation can be guaranteed without outside intervention for time periods of practical significance (i.e., days or weeks). The capability to operate a small reactor without the need for highly skilled technical staff permanently present, but with continuous remote monitoring, would aid the economic case for small reactors, simplify their use in remote regions and enhance safety by limiting the potential for accidents initiated by inappropriate operator action. This paper considers some of the technical design options and issues associated with the use of small power reactors in an autonomous mode for limited periods. The focus is on systems that are suitable for a variety of applications, producing steam for electricity generation, district heating, water desalination and/or marine propulsion. Near-term prospects at low power levels favour the use of pressurized, light-water-cooled reactor designs, among which those having an integral core arrangement appear to offer cost and passive-safety advantages. Small integral pressurized water reactors have been studied in many countries, including the test operation of prototype systems. (author)

  3. Risk analysis for autonomous underwater vehicle operations in extreme environments.

    Science.gov (United States)

    Brito, Mario Paulo; Griffiths, Gwyn; Challenor, Peter

    2010-12-01

    Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics. Here, we describe the use of a risk management process tailored to AUV operations, the implementation of which requires the elicitation of expert judgment. We conducted a formal judgment elicitation process where eight world experts in AUV design and operation were asked to assign a probability of AUV loss given the emergence of each fault or incident from the vehicle's life history of 63 faults and incidents. After discussing methods of aggregation and analysis, we show how the aggregated risk estimates obtained from the expert judgments were used to create a risk model. To estimate AUV survival with mission distance, we adopted a statistical survival function based on the nonparametric Kaplan-Meier estimator. We present theoretical formulations for the estimator, its variance, and confidence limits. We also present a numerical example where the approach is applied to estimate the probability that the Autosub3 AUV would survive a set of missions under Pine Island Glacier, Antarctica in January-March 2009.

  4. Risk analysis for autonomous underwater vehicle operations in extreme environments.

    Science.gov (United States)

    Brito, Mario Paulo; Griffiths, Gwyn; Challenor, Peter

    2010-12-01

    Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics. Here, we describe the use of a risk management process tailored to AUV operations, the implementation of which requires the elicitation of expert judgment. We conducted a formal judgment elicitation process where eight world experts in AUV design and operation were asked to assign a probability of AUV loss given the emergence of each fault or incident from the vehicle's life history of 63 faults and incidents. After discussing methods of aggregation and analysis, we show how the aggregated risk estimates obtained from the expert judgments were used to create a risk model. To estimate AUV survival with mission distance, we adopted a statistical survival function based on the nonparametric Kaplan-Meier estimator. We present theoretical formulations for the estimator, its variance, and confidence limits. We also present a numerical example where the approach is applied to estimate the probability that the Autosub3 AUV would survive a set of missions under Pine Island Glacier, Antarctica in January-March 2009. PMID:20731790

  5. Spatial abstraction for autonomous robot navigation.

    Science.gov (United States)

    Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

    2015-09-01

    Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel. PMID:26227680

  6. The CASCADAS Framework for Autonomic Communications

    Science.gov (United States)

    Baresi, Luciano; Ferdinando, Antonio Di; Manzalini, Antonio; Zambonelli, Franco

    An interesting approach to the design and development of the future Internet foresees a networked service eco-system capable of seamlessly offering services for human-to-human, human-to-machine and machine-to-machine interactions. This chapter builds in this direction by describing a distributed component-ware framework for autonomic and situation-aware communication developed within the CASCADAS project. The core of this framework is the Autonomic Communication Element (ACE), an innovative software abstraction capable of providing dynamically adaptable services that can be built, composed, and let evolve according to autonomic principles. Services are capable of adapting their logic to the dynamically changing context they operate in without human intervention. As a result, whenever the need arises, ACEs can be federated autonomously and produce new services on a situation-aware basis. Systems and, in particular, eco-systems can thus be conceived as collections of ACEs. The chapter introduces the concept of ACE and its different facets. It also presents the architecture of a prototype ACE-based platform and exemplifies the different concepts through a future Pervasive Behavioral Advertisement scenario.

  7. Control algorithms for autonomous robot navigation

    International Nuclear Information System (INIS)

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced

  8. 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

  9. Autonomous Robot Navigation In Public Nature Park

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Andersen, Nils Axel; Ravn, Ole;

    2005-01-01

    This extended abstract describes a project to make a robot travel autonomously across a public nature park. The challenge is to detect and follow the right path across junctions and open squares avoiding people and obstacles. The robot is equipped with a laser scanner, a (low accuracy) GPS, wheel...

  10. Simple autonomic seizures and ictal enuresis

    DEFF Research Database (Denmark)

    Rosenzweig, Ivana; Varga, Edina T; Akeson, Per;

    2011-01-01

    manifestation of the de novo post-traumatic simple autonomic seizures. Source analysis of the ictal epileptiform discharges showed activation of the cortical areas surrounding the right inferior frontal sulcus, adjacent to the lesional zone. The case depicted here further endorses recent neuroimaging studies...

  11. Autonomous biomorphic robots as platforms for sensors

    Energy Technology Data Exchange (ETDEWEB)

    Tilden, M.; Hasslacher, B.; Mainieri, R.; Moses, J.

    1996-10-01

    The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomous machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.

  12. Autonomous biomorphic robots as platforms for sensors

    International Nuclear Information System (INIS)

    The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomous machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology

  13. Autonomous behavior of hematopoietic stem cells

    NARCIS (Netherlands)

    Kamminga, LM; Akkerman, [No Value; Weersing, E; Ausema, A; Dontje, B; Van Zant, G; de Haan, G

    2000-01-01

    Objective. Mechanisms that affect the function of primitive hematopoietic stem cells with long-term proliferative potential remain largely unknown. Here we assessed whether properties of stem cells are cell-extrinsically or cell-autonomously regulated. Materials and Methods. We developed a model in

  14. [Emotion, amygdala, and autonomic nervous system].

    Science.gov (United States)

    Ueyama, Takashi

    2012-10-01

    Emotion refers to the dynamic changes of feeling accompanied by the alteration of physical and visceral activities. Autonomic nervous system (sympathetic and parasympathetic) regulates the visceral activities. Therefore, monitoring and analyzing autonomic nervous activity help understand the emotional changes. To this end, the survey of the expression of immediate early genes (IEGs), such as c-Fos in the brain and target organs, and the viral transneuronal labeling method using the pseudorabies virus (PRV) have enabled the visualization of the neurocircuitry of emotion. By comparing c-Fos expression and data from PRV or other neuroanatomical labeling techniques, the central sites that regulate emotional stress-induced autonomic activation can be deduced. Such regions have been identified in the limbic system (e. g., the extended amygdaloid complex; lateral septum; and infralimbic, insular, and ventromedial temporal cortical regions), as well as in several hypothalamic and brainstem nuclei. The amygdala is structurally diverse and comprises several subnuclei, which play a role in emotional process via projections from the cortex and a variety of subcortical structures. All amygdaloid subnuclei receive psychological information from other limbic systems, while the lateral and central subnuclei receive peripheral and sensory information. Output to the hypothalamus and peripheral sympathetic system mainly originates from the medial amygdala. As estrogen receptor α, estrogen receptor β, and androgen receptor are expressed in the medial amygdala, sex steroids may modulate the autonomic nervous activities.

  15. Information Engineering in Autonomous Robot Software

    NARCIS (Netherlands)

    Ziafati, P.

    2015-01-01

    In order to engage and help in our daily life, autonomous robots are to operate in dynamic and unstructured environments and interact with people. As the robot's environment and its behaviour are getting more complex, so are the robot's software and the knowledge that the robot needs to carry out it

  16. Autonomous Learning from a Social Cognitive Perspective

    Science.gov (United States)

    Ponton, Michael K.; Rhea, Nancy E.

    2006-01-01

    The current perspective of autonomous learning defines it as the agentive exhibition of resourcefulness, initiative, and persistence in self-directed learning. As a form of human agency, it has been argued in the literature that this perspective should be consistent with Bandura's (1986) Social Cognitive Theory (SCT). The purpose of this article…

  17. Control algorithms for autonomous robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Jorgensen, C.C.

    1985-09-20

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced.

  18. Autonomous operation of distributed storages in microgrids

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Chai, Yi Kai; Li, Ding;

    2014-01-01

    Operation of distributed generators in microgrids has been widely discussed, but would not be fully autonomous if distributed energy storages are not considered. Storages are important since they provide energy buffering to load changes, energy levelling to source variations and ride-through enha......Operation of distributed generators in microgrids has been widely discussed, but would not be fully autonomous if distributed energy storages are not considered. Storages are important since they provide energy buffering to load changes, energy levelling to source variations and ride......-through enhancement to the microgrids. Recognising their importance, this study presents a scheme for sharing power among multiple distributed storages in coordination with the distributed sources and loads. The scheme prompts the storages to autonomously sense for local operating conditions, requesting for maximum...... to help with meeting the extra load demand. The described process takes place autonomously with energy eventually shared among the storages in proportion to their ratings. To test the concepts discussed, experiments have been performed with favourable results obtained for performance verification....

  19. A Multifunctional Coating for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Jolley, Scott t.

    2011-01-01

    Nearly all metals and their alloys are subject to corrosion that causes them to lose their structural integrity or other critical functionality. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to indicate it and control it. The multi-functionality of the coating is based on microencapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of existing microcapsulation designs, the corrosion controlled release function that triggers the delivery of corrosion indicators and inhibitors on demand, only when and where needed. Microencapsulation of self-healing agents for autonomous repair of mechanical damage to the coating is also being pursued. Corrosion indicators, corrosion inhibitors, as well as self-healing agents, have been encapsulated and dispersed into several paint systems to test the corrosion detection, inhibition, and self-healing properties of the coating. Key words: Corrosion, coating, autonomous corrosion control, corrosion indication, corrosion inhibition, self-healing coating, smart coating, multifunctional coating, microencapsulation.

  20. Integrating the autonomous subsystems management process

    Science.gov (United States)

    Ashworth, Barry R.

    1992-01-01

    Ways in which the ranking of the Space Station Module Power Management and Distribution testbed may be achieved and an individual subsystem's internal priorities may be managed within the complete system are examined. The application of these results in the integration and performance leveling of the autonomously managed system is discussed.

  1. Spatial abstraction for autonomous robot navigation.

    Science.gov (United States)

    Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

    2015-09-01

    Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel.

  2. Autonomic Modification of Intestinal Smooth Muscle Contractility

    Science.gov (United States)

    Montgomery, Laura E. A.; Tansey, Etain A.; Johnson, Chris D.; Roe, Sean M.; Quinn, Joe G.

    2016-01-01

    Intestinal smooth muscle contracts rhythmically in the absence of nerve and hormonal stimulation because of the activity of pacemaker cells between and within the muscle layers. This means that the autonomic nervous system modifies rather than initiates intestinal contractions. The practical described here gives students an opportunity to observe…

  3. My Understanding on Cultivation of Autonomous Learning

    Institute of Scientific and Technical Information of China (English)

    张金玉

    2007-01-01

    Autonomous learning has been popular in western education system for some time, this article aims to analyze the connotation and the necessity of cultivating learner autonomy, and then offer some strategies about the cultivation of learner autonomy from a chinese perspective.

  4. Applying energy autonomous robots for dike inspection

    NARCIS (Netherlands)

    Dresscher, Douwe; Vries, de Theo J.A.; Stramigioli, Stefano

    2015-01-01

    This article presents an exploratory study of an energy-autonomous robot that can be deployed on the Dutch dykes. Based on theory in energy harvesting from sun and wind and the energy-cost of locomotion an analytic expression to determine the feasible daily operational time of such a vehicle is comp

  5. Autonomic dysfunction in a Jack Russell terrier

    OpenAIRE

    Caines, Deanne; Pinard, Chantale L.; Kruth, Stephen; Orr, Jeremy; James, Fiona

    2011-01-01

    A 4-year-old Jack Russell terrier was presented with an array of clinical signs suggestive of autonomic dysfunction. Many of the clinical signs were consistent with a diagnosis of dysautonomia; however, both chronicity and resolution of signs contradicted a diagnosis of this disease.

  6. Non-autonomous second order Hamiltonian systems

    OpenAIRE

    Pipan, J; Schechter, M

    2014-01-01

    We study the existence of periodic solutions for a second order non-autonomous dynamical system containing variable kinetic energy terms. Our assumptions balance the interaction between the kinetic energy and the potential energy with neither one dominating the other. We study sublinear problems and the existence of non-constant solutions. © 2014 Elsevier Inc.

  7. Advanced manipulation for autonomous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Babcock, S.M.; Hamel, W.R.; Killough, S.M.

    1986-01-01

    This paper describes the development, mechanical configuration, and control system architecture of a lightweight, high performance, seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR). Current activities focusing on modeling and parameter identification will provide a well-characterized manipulator for analytical and experimental research in manipulator dynamics and controls, coordinated manipulation, and autonomous mobile robotics.

  8. Actuator fault diagnosis of autonomous underwater vehicle based on improved Elman neural network

    Institute of Scientific and Technical Information of China (English)

    孙玉山; 李岳明; 张国成; 张英浩; 吴海波

    2016-01-01

    Autonomous underwater vehicles (AUV) work in a complex marine environment. Its system reliability and autonomous fault diagnosis are particularly important and can provide the basis for underwater vehicles to take corresponding security policy in a failure. Aiming at the characteristics of the underwater vehicle which has uncertain system and modeling difficulty, an improved Elman neural network is introduced which is applied to the underwater vehicle motion modeling. Through designing self-feedback connection with fixed gain in the unit connection as well as increasing the feedback of the output layer node, improved Elman network has faster convergence speed and generalization ability. This method for high-order nonlinear system has stronger identification ability. Firstly, the residual is calculated by comparing the output of the underwater vehicle model (estimation in the motion state) with the actual measured values. Secondly, characteristics of the residual are analyzed on the basis of fault judging criteria. Finally, actuator fault diagnosis of the autonomous underwater vehicle is carried out. The results of the simulation experiment show that the method is effective.

  9. Continuity Controlled Hybrid Automata

    OpenAIRE

    Bergstra, J.A.; Middelburg, C. A.

    2004-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of hybrid automata as timed transition systems. We also relate the synchronized product operator on hybrid automata to the parallel composition operator of the process algebra. It turns out that the f...

  10. Geometric formulations and variational integrators of discrete autonomous Birkhoff systems

    International Nuclear Information System (INIS)

    The variational integrators of autonomous Birkhoff systems are obtained by the discrete variational principle. The geometric structure of the discrete autonomous Birkhoff system is formulated. The discretization of mathematical pendulum shows that the discrete variational method is as effective as symplectic scheme for the autonomous Birkhoff systems. (electromagnetism, optics, acoustics, heat transfer, classical mechanics, and fluid dynamics)

  11. Geometric formulations and variational integrators of discrete autonomous Birkhoff systems

    Institute of Scientific and Technical Information of China (English)

    Liu Shi-Xing; Liu Chang; Guo Yong-Xin

    2011-01-01

    The variational integrators of autonomous Birkhoff systems are obtained by the discrete variational principle. The geometric structure of the discrete autonomous Birkhoff system is formulated. The discretization of mathematical pendulum shows that the discrete variational method is as effective as symplectic scheme for the autonomous Birkhoff systems.

  12. MAS Based Event-Triggered Hybrid Control for Smart Microgrids

    DEFF Research Database (Denmark)

    Dou, Chunxia; Liu, Bin; Guerrero, Josep M.

    2013-01-01

    This paper is focused on an advanced control for autonomous microgrids. In order to improve the performance regarding security and stability, a hierarchical decentralized coordinated control scheme is proposed based on multi-agents structure. Moreover, corresponding to the multi-mode and the hybrid...... haracteristics of microgrids, an event-triggered hybrid control, including three kinds of switching controls, is designed to intelligently reconstruct operation mode when the security stability assessment indexes or the constraint conditions are violated. The validity of proposed control scheme is demonstrated...

  13. Control of Hidden Mode Hybrid Systems: Algorithm termination

    OpenAIRE

    Verma, Rajeev; Del Vecchio, Domitilla

    2011-01-01

    We consider the problem of safety control in Hidden Mode Hybrid Systems (HMHS) that arises in the development of a semi-autonomous cooperative active safety system for collision avoidance at an intersection. We utilize the approach of constructing a new hybrid automaton whose discrete state is an estimate of the HMHS mode. A dynamic feedback map can then be designed that guarantees safety on the basis of the current mode estimate and the concept of the capture set. In this work, we relax the ...

  14. Advanced Autonomous Systems for Space Operations

    Science.gov (United States)

    Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

    2002-01-01

    New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health management capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling missions by a standing army of ground-based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such on-board systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communication` distances as are not

  15. Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation

    OpenAIRE

    Vítor Santos; Rui Moreira; Filipe Silva

    2012-01-01

    Humanoid robotics is unquestionably a challenging and long‐term field of research. Of the numerous and most urgent challenges to tackle, autonomous and efficient locomotion may possibly be the most underdeveloped at present in the research community. Therefore, to pursue studies in relation to autonomy with efficient locomotion, the authors have been developing a new teen‐sized humanoid platform with hybrid characteristics. The hybrid nature is clear in the mixed actuation based on common ele...

  16. Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

    OpenAIRE

    Tianhong Yan; Yan Liang; Shujing Zhang; Chao Li; Bo He; Hongjin Zhang

    2011-01-01

    This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespec...

  17. Tethered operation of autonomous aerial vehicles to provide extended field of view for autonomous ground vehicles

    OpenAIRE

    Phang, Nyit Sin

    2006-01-01

    This thesis was part of the ongoing research conducted at the Naval Postgraduate School to achieve greater collaboration between heterogeneous autonomous vehicles. The research addresses optimal control issues in the collaboration between an Unmanned Aerial Vehicle (UAV) and Autonomous Ground Vehicles (AGV). The scenario revolves around using the camera onboard the UAV to extend the effective field of view of the AGV. For military operations, this could be helpful in improving security for co...

  18. Autonomic consequences of spinal cord injury.

    Science.gov (United States)

    Hou, Shaoping; Rabchevsky, Alexander G

    2014-10-01

    Spinal cord injury (SCI) results not only in motor and sensory deficits but also in autonomic dysfunctions. The disruption of connections between higher brain centers and the spinal cord, or the impaired autonomic nervous system itself, manifests a broad range of autonomic abnormalities. This includes compromised cardiovascular, respiratory, urinary, gastrointestinal, thermoregulatory, and sexual activities. These disabilities evoke potentially life-threatening symptoms that severely interfere with the daily living of those with SCI. In particular, high thoracic or cervical SCI often causes disordered hemodynamics due to deregulated sympathetic outflow. Episodic hypertension associated with autonomic dysreflexia develops as a result of massive sympathetic discharge often triggered by unpleasant visceral or sensory stimuli below the injury level. In the pelvic floor, bladder and urethral dysfunctions are classified according to upper motor neuron versus lower motor neuron injuries; this is dependent on the level of lesion. Most impairments of the lower urinary tract manifest in two interrelated complications: bladder storage and emptying. Inadequate or excessive detrusor and sphincter functions as well as detrusor-sphincter dyssynergia are examples of micturition abnormalities stemming from SCI. Gastrointestinal motility disorders in spinal cord injured-individuals are comprised of gastric dilation, delayed gastric emptying, and diminished propulsive transit along the entire gastrointestinal tract. As a critical consequence of SCI, neurogenic bowel dysfunction exhibits constipation and/or incontinence. Thus, it is essential to recognize neural mechanisms and pathophysiology underlying various complications of autonomic dysfunctions after SCI. This overview provides both vital information for better understanding these disorders and guides to pursue novel therapeutic approaches to alleviate secondary complications. PMID:25428850

  19. Exercise and the autonomic nervous system.

    Science.gov (United States)

    Fu, Qi; Levine, Benjamin D

    2013-01-01

    The autonomic nervous system plays a crucial role in the cardiovascular response to acute (dynamic) exercise in animals and humans. During exercise, oxygen uptake is a function of the triple-product of heart rate and stroke volume (i.e., cardiac output) and arterial-mixed venous oxygen difference (the Fick principle). The degree to which each of the variables can increase determines maximal oxygen uptake (V˙O2max). Both "central command" and "the exercise pressor reflex" are important in determining the cardiovascular response and the resetting of the arterial baroreflex during exercise to precisely match systemic oxygen delivery with metabolic demand. In general, patients with autonomic disorders have low levels of V˙O2max, indicating reduced physical fitness and exercise capacity. Moreover, the vast majority of the patients have blunted or abnormal cardiovascular response to exercise, especially during maximal exercise. There is now convincing evidence that some of the protective and therapeutic effects of chronic exercise training are related to the impact on the autonomic nervous system. Additionally, training induced improvement in vascular function, blood volume expansion, cardiac remodeling, insulin resistance and renal-adrenal function may also contribute to the protection and treatment of cardiovascular, metabolic and autonomic disorders. Exercise training also improves mental health, helps to prevent depression, and promotes or maintains positive self-esteem. Moderate-intensity exercise at least 30 minutes per day and at least 5 days per week is recommended for the vast majority of people. Supervised exercise training is preferable to maximize function capacity, and may be particularly important for patients with autonomic disorders. PMID:24095123

  20. Partial pressure (or fugacity) of carbon dioxide, salinity and other variables collected from Surface underway observations using Carbon dioxide (CO2) gas analyzer, Shower head chamber equilibrator for autonomous carbon dioxide (CO2) measurement and other instruments from Marcus G. Langseth in the Caribbean Sea, Cordell Bank National Marine Sanctuary and others from 2013-02-28 to 2013-06-25 (NCEI Accession 0144355)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — NCEI Accession 0144355 includes Surface underway data collected from Marcus G. Langseth in the Caribbean Sea, Cordell Bank National Marine Sanctuary, Gulf of...

  1. Partial pressure (or fugacity) of carbon dioxide, salinity and other variables collected from Surface underway observations using Carbon dioxide (CO2) gas analyzer, Shower head chamber equilibrator for autonomous carbon dioxide (CO2) measurement and other instruments from Marcus G. Langseth in the North Pacific Ocean, Olympic Coast National Marine Sanctuary and South China Sea from 2012-05-13 to 2012-08-26 (NCEI Accession 0144304)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — NCEI Accession 0144304 includes Surface underway data collected from Marcus G. Langseth in the North Pacific Ocean, Olympic Coast National Marine Sanctuary and...

  2. Hybridized tetraquarks

    Science.gov (United States)

    Esposito, A.; Pilloni, A.; Polosa, A. D.

    2016-07-01

    We propose a new interpretation of the neutral and charged X , Z exotic hadron resonances. Hybridized-tetraquarks are neither purely compact tetraquark states nor bound or loosely bound molecules but rather a manifestation of the interplay between the two. While meson molecules need a negative or zero binding energy, its counterpart for h-tetraquarks is required to be positive. The formation mechanism of this new class of hadrons is inspired by that of Feshbach metastable states in atomic physics. The recent claim of an exotic resonance in the Bs0 π± channel by the D0 Collaboration and the negative result presented subsequently by the LHCb Collaboration are understood in this scheme, together with a considerable portion of available data on X , Z particles. Considerations on a state with the same quantum numbers as the X (5568) are also made.

  3. Hybridized tetraquarks

    Directory of Open Access Journals (Sweden)

    A. Esposito

    2016-07-01

    Full Text Available We propose a new interpretation of the neutral and charged X,Z exotic hadron resonances. Hybridized-tetraquarks are neither purely compact tetraquark states nor bound or loosely bound molecules but rather a manifestation of the interplay between the two. While meson molecules need a negative or zero binding energy, its counterpart for h-tetraquarks is required to be positive. The formation mechanism of this new class of hadrons is inspired by that of Feshbach metastable states in atomic physics. The recent claim of an exotic resonance in the Bs0π± channel by the D0 Collaboration and the negative result presented subsequently by the LHCb Collaboration are understood in this scheme, together with a considerable portion of available data on X,Z particles. Considerations on a state with the same quantum numbers as the X(5568 are also made.

  4. iMarine project

    OpenAIRE

    Castelli, Donatella; Ellebroek, Anton; Taconet, Narc; Pagano, Pasquale (ISTI-CNR)

    2012-01-01

    The state-of-art of the iMarine project is presented. The project aim is establishing and operating an e‐infrastructure contributing to the implementation of the principles of the Ecosystem Approach to Fisheries Management and Conservation of Marine Living Resources

  5. Cultivation of marine sponges

    Institute of Scientific and Technical Information of China (English)

    QU Yi; ZHANG Wei; LI Hua; YU Xingju; JIN Meifang

    2005-01-01

    Sponges are the most primitive of multicellular animals, and are major pharmaceutical sources of marine secondary metabolites. A wide variety of new compounds have been isolated from sponges. In order to produce sufficient amounts of the compounds of the needed, it is necessary to obtain large amount of sponges.The production of sponge biomass has become a focus of marine biotechnology.

  6. Marine functional food

    NARCIS (Netherlands)

    Luten, J.B.

    2009-01-01

    This book reviews the research on seafood and health, the use and quality aspects of marine lipids and seafood proteins as ingredients in functional foods and consumer acceptance of (marine) functional food. The first chapter covers novel merging areas where seafood may prevent disease and improve h

  7. A Portable and Autonomous Magnetic Detection Platform for Biosensing

    Science.gov (United States)

    Germano, José; Martins, Verónica C.; Cardoso, Filipe A.; Almeida, Teresa M.; Sousa, Leonel; Freitas, Paulo P.; Piedade, Moisés S.

    2009-01-01

    This paper presents a prototype of a platform for biomolecular recognition detection. The system is based on a magnetoresistive biochip that performs biorecognition assays by detecting magnetically tagged targets. All the electronic circuitry for addressing, driving and reading out signals from spin-valve or magnetic tunnel junctions sensors is implemented using off-the-shelf components. Taking advantage of digital signal processing techniques, the acquired signals are processed in real time and transmitted to a digital analyzer that enables the user to control and follow the experiment through a graphical user interface. The developed platform is portable and capable of operating autonomously for nearly eight hours. Experimental results show that the noise level of the described platform is one order of magnitude lower than the one presented by the previously used measurement set-up. Experimental results also show that this device is able to detect magnetic nanoparticles with a diameter of 250 nm at a concentration of about 40 fM. Finally, the biomolecular recognition detection capabilities of the platform are demonstrated by performing a hybridization assay using complementary and non-complementary probes and a magnetically tagged 20mer single stranded DNA target. PMID:22408516

  8. Autonomous Path Tracking Steering Controller for Extraterrestrial Terrain Exporation Rover

    Science.gov (United States)

    Ahmed, Mohammed; Sonsalla, Roland; Kirchner, Frank

    Extraterrestrial surface missions typically use a robotic rover platform to carry the science instrumentation (e.g.,the twin MER rovers). Due to the risks in the rover path (i.e. low trafficability of unrecognized soil patches), it is proposed in the FASTER footnote{\\url{https://www.faster-fp7-space.eu}} project that two rovers should be used. A micro scout rover is used for determining the traversability of the terrain and collaborate with a primary rover to lower the risk of entering hazardous areas. That will improve the mission safety and the effective traverse speed for planetary rover exploration. This paper presents the design and implementation of the path following controller for micro scout rover. The objective to synthesize a control law which allows the rover to autonomously follow a desired path in a stable manner. Furthermore, the software architecture controlling the rover and all its subsystems is depicted. The performance of the designed controller is discussed and demonstrated with realistic simulations and experiments, conclusions and an outlook of future work are also given. Key words: Micro Rover, Scout Rover, Mars Exploration, Multi-Rover Team, Mobile, All-Terrain, Hybrid-Legged Wheel, Path Following, Automatic Steer, nonlinear systems.

  9. A Localisation and Navigation System for an Autonomous Wheel Loader

    OpenAIRE

    Lilja, Robin

    2011-01-01

    Autonomous vehicles are an emerging trend in robotics, seen in a vast range of applications and environments. Consequently, Volvo Construction Equipment endeavour to apply the concept of autonomous vehicles onto one of their main products. In the company’s Autonomous Machine project an autonomous wheel loader is being developed. As an ob jective given by the company; a demonstration proving the possibility of conducting a fully autonomous load and haul cycle should be performed. Conducting su...

  10. Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2004-01-01

    This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

  11. Autonomous taxis could greatly reduce greenhouse-gas emissions of US light-duty vehicles

    Science.gov (United States)

    Greenblatt, Jeffery B.; Saxena, Samveg

    2015-09-01

    Autonomous vehicles (AVs) are conveyances to move passengers or freight without human intervention. AVs are potentially disruptive both technologically and socially, with claimed benefits including increased safety, road utilization, driver productivity and energy savings. Here we estimate 2014 and 2030 greenhouse-gas (GHG) emissions and costs of autonomous taxis (ATs), a class of fully autonomous shared AVs likely to gain rapid early market share, through three synergistic effects: (1) future decreases in electricity GHG emissions intensity, (2) smaller vehicle sizes resulting from trip-specific AT deployment, and (3) higher annual vehicle-miles travelled (VMT), increasing high-efficiency (especially battery-electric) vehicle cost-effectiveness. Combined, these factors could result in decreased US per-mile GHG emissions in 2030 per AT deployed of 87-94% below current conventionally driven vehicles (CDVs), and 63-82% below projected 2030 hybrid vehicles, without including other energy-saving benefits of AVs. With these substantial GHG savings, ATs could enable GHG reductions even if total VMT, average speed and vehicle size increased substantially. Oil consumption would also be reduced by nearly 100%.

  12. High Performance Marine Vessels

    CERN Document Server

    Yun, Liang

    2012-01-01

    High Performance Marine Vessels (HPMVs) range from the Fast Ferries to the latest high speed Navy Craft, including competition power boats and hydroplanes, hydrofoils, hovercraft, catamarans and other multi-hull craft. High Performance Marine Vessels covers the main concepts of HPMVs and discusses historical background, design features, services that have been successful and not so successful, and some sample data of the range of HPMVs to date. Included is a comparison of all HPMVs craft and the differences between them and descriptions of performance (hydrodynamics and aerodynamics). Readers will find a comprehensive overview of the design, development and building of HPMVs. In summary, this book: Focuses on technology at the aero-marine interface Covers the full range of high performance marine vessel concepts Explains the historical development of various HPMVs Discusses ferries, racing and pleasure craft, as well as utility and military missions High Performance Marine Vessels is an ideal book for student...

  13. Marin Tsunami (video)

    Science.gov (United States)

    Filmed and edited by: Loeffler, Kurt; Gesell, Justine

    2010-01-01

    Tsunamis are a constant threat to the coasts of our world. Although tsunamis are infrequent along the West coast of the United States, it is possible and necessary to prepare for potential tsunami hazards to minimize loss of life and property. Community awareness programs are important, as they strive to create an informed society by providing education and training. The Marin coast could be struck by a tsunami. Whether you live in Marin County, visit the beaches, or rent or own a home near the coast, it is vital to understand the tsunami threat and take preparation seriously. Marin Tsunami tells the story of what several West Marin communities are doing to be prepared. This video was produced by the US Geological Survey (USGS) in cooperation with the Marin Office of Emergency Services.

  14. Continuity Controlled Hybrid Automata

    NARCIS (Netherlands)

    Bergstra, J.A.; Middelburg, C.A.

    2004-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

  15. Continuity controlled Hybrid Automata

    NARCIS (Netherlands)

    Bergstra, J.A.; Middelburg, C.A.

    2008-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

  16. Autonomous microexplosives subsurface tracing system final report.

    Energy Technology Data Exchange (ETDEWEB)

    Engler, Bruce Phillip; Nogan, John; Melof, Brian Matthew; Uhl, James Eugene; Dulleck, George R., Jr.; Ingram, Brian V.; Grubelich, Mark Charles; Rivas, Raul R.; Cooper, Paul W.; Warpinski, Norman Raymond; Kravitz, Stanley H.

    2004-04-01

    The objective of the autonomous micro-explosive subsurface tracing system is to image the location and geometry of hydraulically induced fractures in subsurface petroleum reservoirs. This system is based on the insertion of a swarm of autonomous micro-explosive packages during the fracturing process, with subsequent triggering of the energetic material to create an array of micro-seismic sources that can be detected and analyzed using existing seismic receiver arrays and analysis software. The project included investigations of energetic mixtures, triggering systems, package size and shape, and seismic output. Given the current absence of any technology capable of such high resolution mapping of subsurface structures, this technology has the potential for major impact on petroleum industry, which spends approximately $1 billion dollar per year on hydraulic fracturing operations in the United States alone.

  17. Promotion of autonomous employment among unemployed youth

    Directory of Open Access Journals (Sweden)

    Olga González Morales

    2004-01-01

    Full Text Available The promotion of the enterprising spirit and the support to the entrepreneurship and to self-employed are lines of performance that the European Commission recommends to the members states to help the young men and unemployed adults to look for a professional exit in the field of the autonomous employment. This work analyzes one of the lines of performance as for support to the creation of employment: the evolution of the number of beneficiaries taken refuge in the program of support to the autonomous Spanish employment during the period of 1998-2002, with special reference to the implication of the 25-year-old minor young men in the same one.

  18. Forced synchronization of autonomous dynamical Boolean networks

    Energy Technology Data Exchange (ETDEWEB)

    Rivera-Durón, R. R., E-mail: roberto.rivera@ipicyt.edu.mx; Campos-Cantón, E., E-mail: eric.campos@ipicyt.edu.mx [División de Matemáticas Aplicadas, Instituto Potosino de Investigación Científica y Tecnológica A. C., Camino a la Presa San José 2055, Col. Lomas 4 Sección, C.P. 78216, San Luis Potosí, S.L.P. (Mexico); Campos-Cantón, I. [Facultad de Ciencias, Universidad Autónoma de San Luis Potosí, Álvaro Obregón 64, C.P. 78000, San Luis Potosí, S.L.P. (Mexico); Gauthier, Daniel J. [Department of Physics and Center for Nonlinear and Complex Systems, Duke University, Box 90305, Durham, North Carolina 27708 (United States)

    2015-08-15

    We present the design of an autonomous time-delay Boolean network realized with readily available electronic components. Through simulations and experiments that account for the detailed nonlinear response of each circuit element, we demonstrate that a network with five Boolean nodes displays complex behavior. Furthermore, we show that the dynamics of two identical networks display near-instantaneous synchronization to a periodic state when forced by a common periodic Boolean signal. A theoretical analysis of the network reveals the conditions under which complex behavior is expected in an individual network and the occurrence of synchronization in the forced networks. This research will enable future experiments on autonomous time-delay networks using readily available electronic components with dynamics on a slow enough time-scale so that inexpensive data collection systems can faithfully record the dynamics.

  19. Forced synchronization of autonomous dynamical Boolean networks.

    Science.gov (United States)

    Rivera-Durón, R R; Campos-Cantón, E; Campos-Cantón, I; Gauthier, Daniel J

    2015-08-01

    We present the design of an autonomous time-delay Boolean network realized with readily available electronic components. Through simulations and experiments that account for the detailed nonlinear response of each circuit element, we demonstrate that a network with five Boolean nodes displays complex behavior. Furthermore, we show that the dynamics of two identical networks display near-instantaneous synchronization to a periodic state when forced by a common periodic Boolean signal. A theoretical analysis of the network reveals the conditions under which complex behavior is expected in an individual network and the occurrence of synchronization in the forced networks. This research will enable future experiments on autonomous time-delay networks using readily available electronic components with dynamics on a slow enough time-scale so that inexpensive data collection systems can faithfully record the dynamics.

  20. Autonomous rough terrain navigation - Lessons learned

    Science.gov (United States)

    Miller, David P.

    1991-01-01

    Because of light-time delays, a planetary rover located on Mars or beyond will probably need to be able to navigate autonomously, in order to do significant exploration. Recent work at JPL has explored several different autonomous navigation strategies. This work includes highly deliberative methods that require large amounts of computation and internal storage but yield very planful behavior to more reactive systems that require less resources but whose behavior is more difficult to model. This paper briefly presents these methods, the results from experiments both in simulation and in the field, and some conclusions on the value of different approaches, and their possible impact on the structure of the robot and the mission architecture.

  1. Outdoor Field Experience with Autonomous Stations

    CERN Document Server

    Lopes, L; Blanco, A; Carolino, N; Cerda, M A; Conceicao, R; Cunha, O; Ferreira, M; Fonte, P; Luz, R; Mendes, L; Pereira, A; Pimenta, M; Sarmento, R; Tome, B

    2016-01-01

    In the last two decades Resistive Plate Chambers were employed in the Cosmic Ray Experiments COVER-PLASTEX and ARGO/YBJ. In both experiments the detectors were housed indoors, likely owing to gas distribution requirements and the need to control environment variables that directly affect RPCs operational stability. But in experiments where Extended Air Shower (EAS) sampling is necessary, large area arrays composed by dispersed stations are deployed, rendering this kind of approach impossible. In this situation, it would be mandatory to have detectors that could be deployed in small standalone stations, with very rare opportunities for maintenance, and with good resilience to environmental conditions. Aiming to meet these requirements, we started some years ago the development of RPCs for Autonomous Stations. The results from indoor tests and measurements were very promising, both concerning performance and stability under very low gas flow rate, which is the main requirement for Autonomous Stations. In this w...

  2. Autonomous reinforcement learning with experience replay.

    Science.gov (United States)

    Wawrzyński, Paweł; Tanwani, Ajay Kumar

    2013-05-01

    This paper considers the issues of efficiency and autonomy that are required to make reinforcement learning suitable for real-life control tasks. A real-time reinforcement learning algorithm is presented that repeatedly adjusts the control policy with the use of previously collected samples, and autonomously estimates the appropriate step-sizes for the learning updates. The algorithm is based on the actor-critic with experience replay whose step-sizes are determined on-line by an enhanced fixed point algorithm for on-line neural network training. An experimental study with simulated octopus arm and half-cheetah demonstrates the feasibility of the proposed algorithm to solve difficult learning control problems in an autonomous way within reasonably short time. PMID:23237972

  3. Autonomous Rovers for Polar Science Campaigns

    Science.gov (United States)

    Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

    2012-12-01

    We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero

  4. Auditory stimulation and cardiac autonomic regulation

    Directory of Open Access Journals (Sweden)

    Vitor E. Valenti

    2012-08-01

    Full Text Available Previous studies have already demonstrated that auditory stimulation with music influences the cardiovascular system. In this study, we described the relationship between musical auditory stimulation and heart rate variability. Searches were performed with the Medline, SciELO, Lilacs and Cochrane databases using the following keywords: "auditory stimulation", "autonomic nervous system", "music" and "heart rate variability". The selected studies indicated that there is a strong correlation between noise intensity and vagal-sympathetic balance. Additionally, it was reported that music therapy improved heart rate variability in anthracycline-treated breast cancer patients. It was hypothesized that dopamine release in the striatal system induced by pleasurable songs is involved in cardiac autonomic regulation. Musical auditory stimulation influences heart rate variability through a neural mechanism that is not well understood. Further studies are necessary to develop new therapies to treat cardiovascular disorders.

  5. Autonomous Robot Navigation based on Visual Landmarks

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2005-01-01

    autonomous navigation and self-localization using automatically selected landmarks. The thesis investigates autonomous robot navigation and proposes a new method which benefits from the potential of the visual sensor to provide accuracy and reliability to the navigation process while relying on naturally......The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully...... available environment features (natural landmarks). The goal is also to integrate techniques and algorithms (also related to other research field) in the same navigation system, in order to improve localization performance and system autonomy. The proposed localization strategy is based on a continuous...

  6. 13th International Conference Intelligent Autonomous Systems

    CERN Document Server

    Michael, Nathan; Berns, Karsten; Yamaguchi, Hiroaki

    2016-01-01

    This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences ...

  7. Development of autonomous grasping and navigating robot

    Science.gov (United States)

    Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

    2015-01-01

    The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

  8. Autonomous vehicle platforms from modular robotic components

    Science.gov (United States)

    Schonlau, William J.

    2004-09-01

    A brief survey of current autonomous vehicle (AV) projects is presented with intent to find common infrastructure or subsystems that can be configured from commercially available modular robotic components, thereby providing developers with greatly reduced timelines and costs and encouraging focus on the selected problem domain. The Modular Manipulator System (MMS) robotic system, based on single degree of freedom rotary and linear modules, is introduced and some approaches to autonomous vehicle configuration and deployment are examined. The modules may be configured to provide articulated suspensions for very rugged terrain and fall recovery, articulated sensors and tooling plus a limited capacity for self repair and self reconfiguration. The MMS on-board visually programmed control software (Model Manager) supports experimentation with novel physical configurations and behavior algorithms via real-time 3D graphics for operations simulation and provides useful subsystems for vision, learning and planning to host intelligent behavior.

  9. Iatrogenic urological triggers of autonomic dysreflexia

    DEFF Research Database (Denmark)

    Liu, N; Zhou, M; Biering-Sørensen, F;

    2015-01-01

    STUDY DESIGN: This is a systematic review. OBJECTIVE: The objective of this study was to review the literature on iatrogenic urological triggers of autonomic dysreflexia (AD). SETTING: This study was conducted in an international setting. METHODS: A systematic review was conducted from Pub......Med search using AD/ autonomic hyperreflexia and spinal cord injury (SCI). Studies selected for review involved iatrogenic urological triggers of AD in individuals with SCI, including original articles, previous practice guidelines, case reports and literature reviews. Studies that did not report AD or blood...... pressure (BP) assessments during urological procedures were excluded. RESULTS: Forty studies were included for analysis and categorized into four groups: (1) urodynamics and cystometry; (2) cystoscopy and transurethral litholapaxy; (3) extracorporeal shock-wave lithotripsy (ESWL); and (4) other procedures...

  10. Marine fragrance chemistry.

    Science.gov (United States)

    Hügel, Helmut M; Drevermann, Britta; Lingham, Anthony R; Marriott, Philip J

    2008-06-01

    The main marine message in perfumery is projected by Calone 1951 (7-methyl-2H-1,5-benzodioxepin-3(4H)-one). Kraft (Givaudan) and Gaudin (Firmenich) further maximized the marine fragrance molecular membership by extending the carbon chain of the 7-Me group. Our research targeted the polar group of the benzodioxepinone parent compound to investigate how this region of molecular makeup resonates with the dominant marine fragrance of the Calone 1951 structure. The olfactory evaluation of analogues prepared by chemical modification or removal of the CO group resulted in the introduction of aldehydic, sweet and floral-fruity notes with a diluted/diminished potency of the marine odor. To further analyze the olfactory properties of benzodioxepinones containing a diverse range of aromatic ring substituents, a novel synthesis route was developed. We found that a 7-alkyl group in Calone 1951 was essential for the maintenance of the significant marine odor characteristic, and our studies support the concept that the odorant structure occupying the hydrophobic binding pocket adjacent to the aromatic ring-binding site of the olfactory receptor is pivotal in the design and discovery of more potent and characteristic marine fragrances. How the structure of benzodioxepinones connects to marine sea-breeze fragrances is our continuing challenging research focus at the chemistry-biology interface. PMID:18618392

  11. Modular supervisory controller for hybrid power systems

    Energy Technology Data Exchange (ETDEWEB)

    Lemos Pereira, A. de

    2000-06-01

    The power supply of remote places has been commonly provided by thermal power plants, usually diesel generators. Although hybrid power systems may constitute the most economical solution in many applications their widespread application to the electrification schemes of remote areas still depends on improvements in the issues of design and operation control. The main limitations of the present hybrid power systems technology, which are identified in this work, are related to the control and supervision of the power system. Therefore this thesis focuses on the modularity of supervisory controllers in order to design cost-competitive and reliable hybrid power systems. The modular supervisory controller created in this project is considered an important part of a system design approach that aims to overcome the technical difficulties of the current engineering practice and contribute to open the market of hybrid power systems. The term modular refers to a set of design characteristics that allows the use of basically the same supervisory controller in different projects. The modularization and standardisation of the controller include several issues such as interfacing components, communication protocols, modelling, programming and control strategies. The modularity can reduce the highly specialised system engineering related to the integration of components, operation and control. It can also avoid the high costs for installation, service and maintenance. A modular algorithm for supervisory controllers has been developed (a Matlab program called SuperCon) using an object-oriented design and it has been tested through several simulations using different hybrid system configurations and different control strategies. This thesis presents a complete control system design process which can be used as the basis for the development and implementation of intelligent and autonomous supervisory controllers for hybrid power systems with modular characteristics. (au)

  12. Community structure, cellular rRNA content, and activity of sulfate-reducing bacteria in marine Arctic sediments

    DEFF Research Database (Denmark)

    Ravenschlag, K.; Sahm, K.; Knoblauch, C.;

    2000-01-01

    The community structure of sulfate-reducing bacteria (SRB) of a marine Arctic sediment (Smeerenburg-fjorden, Svalbard) a-as characterized by both fluorescence in situ hybridization (FISH) and rRNA slot blot hybridization by using group- and genus-specific 16S rRNA-targeted oligonucleotide probes...

  13. An autonomous boat based Synthetic Aperture Sonar

    OpenAIRE

    Sergio Rui Silva; Sergio Cunha; Anibal Matos; Nuno Cruz

    2007-01-01

    This paper describes a Synthetic Aperture Sonar (SAS) system being developed at the University of Porto to be used in a small autonomous boat for the survey of shallow water environments, such as rivers, deltas, estuaries and dams. Its purpose is to obtain high resolution echo reflectivity maps through synthetic aperture techniques, taking advantage of the high precision navigation system of the boat. In the future the production of bottom tomography maps is also considered through the use of...

  14. Visual SLAM for Autonomous Navigation of MAVs

    OpenAIRE

    Yang, Shaowu

    2014-01-01

    This thesis focuses on developing onboard visual simultaneous localization and mapping (SLAM) systems to enable autonomous navigation of micro aerial vehicles (MAVs), which is still a challenging topic considering the limited payload and computational capability that an MAV normally has. In MAV applications, the visual SLAM systems are required to be very efficient, especially when other visual tasks have to be done in parallel. Furthermore, robustness in pose tracking is highly desired in or...

  15. Modelling tunnel thrusters for autonomous underwater vehicles

    OpenAIRE

    Palmer, A.; Hearn, G.E.; Stevenson, P

    2008-01-01

    With 900 Autonomous Underwater Vehicles (AUVs) required over the next decade (Newman et al., 2007) existing survey-style AUVs need improved utilization factors. Additional control devices to extend operational capability need consideration together with the interchange between AUV control approaches. This paper considers supplementary through-body tunnel thruster control during the transition from survey operation to low-speed manoeuvring. Modified manoeuvring equations permit investigation o...

  16. Model Predictive Control of Autonomous Vehicles

    OpenAIRE

    Zanon, Mario; Frasch, Janick V.; Vukov, Milan; Sager, Sebastian; Diehl, Moritz

    2014-01-01

    International audience The control of autonomous vehicles is a challenging task that requires advanced control schemes. Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) are optimization-based control and estimation techniques that are able to deal with highly nonlinear, constrained, unstable and fast dynamic systems. In this chapter, these techniques are detailed, a descriptive nonlinear model is derived and the performance of the proposed control scheme is dem...

  17. Feasible Path Planning for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Vu Trieu Minh

    2014-01-01

    Full Text Available The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints. Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories. Results show that the symmetric polynomial algorithm provides the smoothest trajectory. Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.

  18. Development of an Autonomous Mobile Robot

    OpenAIRE

    Niewada, Valentin

    2015-01-01

    Although the robotics community did a lot of research in the field of autonomous mobile robotics, there are still many unsolved challenges. With this dynamic, the European Robotics Challenges (EUROC) aim at enhancing mobile robotics research by building concrete projects with industrial applications. During my final year internship for the Télécom Physique Strasbourg’s Engineering Degree which has taken place in the Robotics and Mechatronics Institute at the DLR Oberpfaffenhofen (Germany),...

  19. A memory model for autonomous virtual humans

    OpenAIRE

    Peters, Christopher; O'SULLIVAN, CAROL ANN

    2002-01-01

    PUBLISHED A memory model based on ?stage theory?, the dominant view of memory from the field of cognitive psychology, is presented for application to autonomous virtual humans. The virtual human senses external stimuli through a synthetic vision system. The vision system incorporates multiple modes of vision in order to accommodate a perceptual attention approach. The memory model is used to store perceived and attended object data at different stages in a filtering process....

  20. The utility of pollination for autonomic computing

    OpenAIRE

    Kasinger, Holger; Bauer, Bernhard

    2006-01-01

    From the biology’s point of view, pollination is an important step in the reproduction of seed plants. From our point of view, pollination is a promising and novel, biological paradigm for future dependable and self-managing computing systems. This estimation is based on the characteristics the pollination process between plants and insects implies inherently. To utilize pollination as a paradigm for self-managing and thus autonomic computing systems, this paper identifies the useful prope...

  1. Interception and Rendezvous Between Autonomous Vehicles

    OpenAIRE

    Crispin, Yechiel J.

    2008-01-01

    The interception and rendezvous problems between two autonomous vehicles moving in an underwater environment has been treated using an optimal control formulation with terminal constraints. The vehicles have a constant thrust propulsion system and use the direction of the thrust vector for steering and control. We use a genetic algorithm to determine directly the control history of the vehicle by evolving populations of possible solutions of initial value problems. In order to fulfill the fin...

  2. Miniature Autonomous Rocket Recovery System (MARRS)

    OpenAIRE

    Yakimenko, O.A.; Yingling, A.J.; Hewgley, C.W.; Seigenthaler, T.A.

    2011-01-01

    The article of record as published may be located at http://dx.doi.org/10.2514/6.2011-2597 Proceedings of the 21st AIAA Aerodynamic Decelerator Systems Technology Conference, Dublin, Ireland, May 23-26, 2011. This paper discusses the development and testing of the new-generation recovery system in highpowered rockets. It starts from the overall description of the rocket system, the requirements of the Miniature Autonomous Rocket Recovery System (MARRS) and is followed by a descrip...

  3. 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

  4. Impact of autonomous vehicles on urban mobility

    OpenAIRE

    Azmat, Muhammad

    2015-01-01

    The urban population is growing at an exponential rate throughout the world leading to the problems related to swift and speedy mobility or issues caused by convectional mobility options. This study illustrates and explores the new ways to transport people specially taking into account the self-driving cars concept and discusses the concept of mobility 4.0 (smart / intelligent mobility) and briefly highlights the technological aspects of autonomous vehicles, adaptation advantages and progress...

  5. Collaborative reinforcement learning of autonomic behaviour

    OpenAIRE

    Dowling, Jim; CUNNINGHAM, RAYMOND; Curran, Eoin; Cahill, Vinny

    2004-01-01

    peer-reviewed This paper introduces Collaborative Reinforcement Learning (CRL), a coordination model for solving system-wide optimisation problems in distributed systems where there is no support for global state. In CRL the autonomic properties of a distributed system emerge from the coordination of individual agents solving discrete optimisation problems using Reinforcement Learning. In the context of an ad hoc routing protocol, we show how system-wide optimisation in CRL can be used t...

  6. Precise laser gyroscope for autonomous inertial navigation

    Energy Technology Data Exchange (ETDEWEB)

    Kuznetsov, A G; Molchanov, A V; Izmailov, E A [Joint Stock Company ' Moscow Institute of Electromechanics and Automatics' , Moscow (Russian Federation); Chirkin, M V [Ryazan State Radio Engineering University (Russian Federation)

    2015-01-31

    Requirements to gyroscopes of strapdown inertial navigation systems for aircraft application are formulated. The construction of a ring helium – neon laser designed for autonomous navigation is described. The processes that determine the laser service life and the relation between the random error of the angular velocity measurement and the surface relief features of the cavity mirrors are analysed. The results of modelling one of the promising approaches to processing the laser gyroscope signals are presented. (laser gyroscopes)

  7. System for autonomous monitoring of bioagents

    Science.gov (United States)

    Langlois, Richard G.; Milanovich, Fred P.; Colston, Jr, Billy W.; Brown, Steve B.; Masquelier, Don A.; Mariella, Jr., Raymond P.; Venkateswaran, Kodomudi

    2015-06-09

    An autonomous monitoring system for monitoring for bioagents. A collector gathers the air, water, soil, or substance being monitored. A sample preparation means for preparing a sample is operatively connected to the collector. A detector for detecting the bioagents in the sample is operatively connected to the sample preparation means. One embodiment of the present invention includes confirmation means for confirming the bioagents in the sample.

  8. 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.

  9. Auditory stimulation and cardiac autonomic regulation

    OpenAIRE

    Vitor E Valenti; Guida, Heraldo L.; Frizzo, Ana C F; Cardoso, Ana C. V.; Vanderlei, Luiz Carlos M; Luiz Carlos de Abreu

    2012-01-01

    Previous studies have already demonstrated that auditory stimulation with music influences the cardiovascular system. In this study, we described the relationship between musical auditory stimulation and heart rate variability. Searches were performed with the Medline, SciELO, Lilacs and Cochrane databases using the following keywords: "auditory stimulation", "autonomic nervous system", "music" and "heart rate variability". The selected studies indicated that there is a strong correlation bet...

  10. Autonomous Underwater Vehicle „ABYSS“

    OpenAIRE

    Linke, Peter; Lackschewitz, Klas

    2016-01-01

    The Autonomous Underwater Vehicle (AUV) „ABYSS“ is a modular AUV designed to survey the ocean combining geophysical studies of the seafloor with oceanographic investigations of the overlying water column. The basic mission of ABYSS is deep-sea exploration, specifically in volcanically and tectonically active parts, such as mid-ocean ridges. With a maximum mission depth of 6000 meters, the AUV uses several technologies to map the seafloor accurately and determine its geological ...

  11. Autonomous Underwater Vehicle „ABYSS“

    OpenAIRE

    Linke, Peter; Lackschewitz, Klas

    2016-01-01

    The Autonomous Underwater Vehicle (AUV) „ABYSS“ is a modular AUV designed to survey the ocean combining geophysical studies of the seafloor with oceanographic investigations of the overlying water column. The basic mission of ABYSS is deep-sea exploration, specifically in volcanically and tectonically active parts, such as mid-ocean ridges. With a maximum mission depth of 6000 meters, the AUV uses several technologies to map the seafloor accurately and determine its geological structure with ...

  12. Meiotic transmission of an in vitro-assembled autonomous maize minichromosome.

    Directory of Open Access Journals (Sweden)

    Shawn R Carlson

    2007-10-01

    Full Text Available Autonomous chromosomes are generated in yeast (yeast artificial chromosomes and human fibrosarcoma cells (human artificial chromosomes by introducing purified DNA fragments that nucleate a kinetochore, replicate, and segregate to daughter cells. These autonomous minichromosomes are convenient for manipulating and delivering DNA segments containing multiple genes. In contrast, commercial production of transgenic crops relies on methods that integrate one or a few genes into host chromosomes; extensive screening to identify insertions with the desired expression level, copy number, structure, and genomic location; and long breeding programs to produce varieties that carry multiple transgenes. As a step toward improving transgenic crop production, we report the development of autonomous maize minichromosomes (MMCs. We constructed circular MMCs by combining DsRed and nptII marker genes with 7-190 kb of genomic maize DNA fragments containing satellites, retroelements, and/or other repeats commonly found in centromeres and using particle bombardment to deliver these constructs into embryogenic maize tissue. We selected transformed cells, regenerated plants, and propagated their progeny for multiple generations in the absence of selection. Fluorescent in situ hybridization and segregation analysis demonstrated that autonomous MMCs can be mitotically and meiotically maintained. The MMC described here showed meiotic segregation ratios approaching Mendelian inheritance: 93% transmission as a disome (100% expected, 39% transmission as a monosome crossed to wild type (50% expected, and 59% transmission in self crosses (75% expected. The fluorescent DsRed reporter gene on the MMC was expressed through four generations, and Southern blot analysis indicated the encoded genes were intact. This novel approach for plant transformation can facilitate crop biotechnology by (i combining several trait genes on a single DNA fragment, (ii arranging genes in a defined

  13. Differential Hybrid Games

    OpenAIRE

    Platzer, André

    2015-01-01

    This article introduces differential hybrid games, which combine differential games with hybrid games. In both kinds of games, two players interact with continuous dynamics. The difference is that hybrid games also provide all the features of hybrid systems and discrete games, but only deterministic differential equations. Differential games, instead, provide differential equations with continuous-time game input by both players, but not the luxury of hybrid games, such as mode switches and d...

  14. 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.

  15. Reference test courses for autonomous mobile robots

    Science.gov (United States)

    Jacoff, Adam; Messina, Elena; Evans, John

    2001-09-01

    One approach to measuring the performance of intelligent systems is to develop standardized or reproducible tests. These tests may be in a simulated environment or in a physical test course. The National Institute of Standards and Technology has developed a test course for evaluating the performance of mobile autonomous robots operating in an urban search and rescue mission. The test course is designed to simulate a collapsed building structure at various levels of fidelity. The course will be used in robotic competitions, such as the American Association for Artificial Intelligence (AAAI) Mobile Robot Competition and the RoboCup Rescue. Designed to be repeatable and highly reconfigurable, the test course challenges a robot's cognitive capabilities such as perception, knowledge representation, planning, autonomy and collaboration. The goal of the test course is to help define useful performance metrics for autonomous mobile robots which, if widely accepted, could accelerate development of advanced robotic capabilities by promoting the re-use of algorithms and system components. The course may also serve as a prototype for further development of performance testing environments which enable robot developers and purchasers to objectively evaluate robots for a particular application. In this paper we discuss performance metrics for autonomous mobile robots, the use of representative urban search and rescue scenarios as a challenge domain, and the design criteria for the test course.

  16. Autonomous system for cross-country navigation

    Science.gov (United States)

    Stentz, Anthony; Brumitt, Barry L.; Coulter, R. C.; Kelly, Alonzo

    1993-05-01

    Autonomous cross-country navigation is essential for outdoor robots moving about in unstructured environments. Most existing systems use range sensors to determine the shape of the terrain, plan a trajectory that avoids obstacles, and then drive the trajectory. Performance has been limited by the range and accuracy of sensors, insufficient vehicle-terrain interaction models, and the availability of high-speed computers. As these elements improve, higher- speed navigation on rougher terrain becomes possible. We have developed a software system for autonomous navigation that provides for greater capability. The perception system supports a large braking distance by fusing multiple range images to build a map of the terrain in front of the vehicle. The system identifies range shadows and interpolates undersamples regions to account for rough terrain effects. The motion planner reduces computational complexity by investigating a minimum number of trajectories. Speeds along the trajectory are set to provide for dynamic stability. The entire system was tested in simulation, and a subset of the capability was demonstrated on a real vehicle. Results to date include a continuous 5.1 kilometer run across moderate terrain with obstacles. This paper begins with the applications, prior work, limitations, and current paradigms for autonomous cross-country navigation, and then describes our contribution to the area.

  17. Applying neural networks in autonomous systems

    Science.gov (United States)

    Thornbrugh, Allison L.; Layne, J. D.; Wilson, James M., III

    1992-03-01

    Autonomous and teleautonomous operations have been defined in a variety of ways by different groups involved with remote robotic operations. For example, Conway describes architectures for producing intelligent actions in teleautonomous systems. Applying neural nets in such systems is similar to applying them in general. However, for autonomy, learning or learned behavior may become a significant system driver. Thus, artificial neural networks are being evaluated as components in fully autonomous and teleautonomous systems. Feed- forward networks may be trained to perform adaptive signal processing, pattern recognition, data fusion, and function approximation -- as in control subsystems. Certain components of particular autonomous systems become more amenable to implementation using a neural net due to a match between the net's attributes and desired attributes of the system component. Criteria have been developed for distinguishing such applications and then implementing them. The success of hardware implementation is a crucial part of this application evaluation process. Three basic applications of neural nets -- autoassociation, classification, and function approximation -- are used to exemplify this process and to highlight procedures that are followed during the requirements, design, and implementation phases. This paper assumes some familiarity with basic neural network terminology and concentrates upon the use of different neural network types while citing references that cover the underlying mathematics and related research.

  18. Review of Static Compensation of Autonomous Systems

    Directory of Open Access Journals (Sweden)

    Ambarnath Banerji

    2012-01-01

    Full Text Available Abstract Deregulation of the electric power energy market has thrown open opportunities for tapping the large number of small pockets of renewable energy sources with the asynchronous generators. Whether the power is supplied by asynchronous generator or by the grid at the remote location, its quality has become an important aspect for consumers of electricity. Efforts have been made to improve the power quality using passive filters, active filters and the new concept of Custom Power. Use of Custom power devices ensures that a load do not pollute the power supply of the other loads. One such custom power device is the DSTATCOM (Distribution Static Compensator which is connected in shunt at the load end. The heart of the DSTATCOM is an inverter. The focus on the autonomous generation has increased in the recent years. The paper presents a comprehensive review of the DSTATCOM used for autonomous generation. It is aimed at providing a broad perspective on the status of DSTATCOM, used with Asynchronous generators, vis-à-vis its working principle, topology, solid state switching devices and technology, supply system, control methodologies and approaches, technical and economic considerations, etc. to researchers and application engineers dealing with power quality aspects of Autonomous Systems. Classified manner in which the references are presented in this paper will serve them as quick and useful reference.

  19. Hemicrania continua. Unquestionably a trigeminal autonomic cephalalgia.

    Science.gov (United States)

    Vincent, Maurice B

    2013-05-01

    Hemicrania continua (HC) is a well-known primary headache. The present version of the International Classification of Headache Disorders lists HC in the "other primary headaches" group. However, evidence has emerged demonstrating that HC is a phenotype that belongs to the trigeminal autonomic cephalalgias together with cluster headache, paroxysmal hemicrania (PH), and short-lasting, unilateral neuralgiform headache attacks with conjunctival injection and tearing. This is supported by a common general clinical picture - paroxysmal, fluctuating, unilateral, side-locked headaches located to the ocular, frontal, and/or temporal regions, accompanied by ipsilateral autonomic dysfunctions including for example, tearing and conjunctival injection. Apart from the remarkable clinical similarities, the absolute and incomparable effect of indomethacin in HC parallels the effect of this drug in PH, suggesting a shared core pathogenesis. Finally, neuroimage findings demonstrate a posterior hypothalamic activation in HC similarly to cluster headache, PH, and short-lasting, unilateral neuralgiform headache attacks with conjunctival injection and tearing. Taken together, data indicate that HC is certainly a type of trigeminal autonomic cephalalgia that should no longer be placed in a group of miscellaneous primary headache disorders.

  20. Autonomous and Autonomic Systems: A Paradigm for Future Space Exploration Missions

    Science.gov (United States)

    Truszkowski, Walter F.; Hinchey, Michael G.; Rash, James L.; Rouff, Christopher A.

    2004-01-01

    NASA increasingly will rely on autonomous systems concepts, not only in the mission control centers on the ground, but also on spacecraft and on rovers and other assets on extraterrestrial bodies. Automomy enables not only reduced operations costs, But also adaptable goal-driven functionality of mission systems. Space missions lacking autonomy will be unable to achieve the full range of advanced mission objectives, given that human control under dynamic environmental conditions will not be feasible due, in part, to the unavoidably high signal propagation latency and constrained data rates of mission communications links. While autonomy cost-effectively supports accomplishment of mission goals, autonomicity supports survivability of remote mission assets, especially when human tending is not feasible. Autonomic system properties (which ensure self-configuring, self-optimizing self-healing, and self-protecting behavior) conceptually may enable space missions of a higher order into any previously flown. Analysis of two NASA agent-based systems previously prototyped, and of a proposed future mission involving numerous cooperating spacecraft, illustrates how autonomous and autonomic system concepts may be brought to bear on future space missions.

  1. Marine Pollution and Ecotoxicology

    Digital Repository Service at National Institute of Oceanography (India)

    Sarkar, A.

    of ocean water in relation to air–sea flux variable. 4. Persistent organic pollutants In view of the ever-increasing load of persistent organic contaminants in the marine environment, it is of great significance to assess the state of pollution due... problem of marine pollution, it is indeed a prime need of the hour to assess the state of pollution of the marine environment. environmental data off Cundapoor and Kasargod along the coast of Karnataka that can be utilized for comprehensive interpretation...

  2. LA POLLUTION MARINE

    OpenAIRE

    Goeury, David; Goeury, D

    2014-01-01

    National audience La pollution marine est définie comme l'introduction directe ou indirecte de déchets, de substances, ou d'énergie, y compris de sources sonores sous-marines d'origine humaine, qui entraîne ou qui est susceptible d'entraîner des effets nuisibles pour les ressources vivantes et les écosystèmes marins, avec pour conséquence, un appauvrissement de la biodiversité, des risques pour la santé humaine, des obstacles pour les activités maritimes, et notamment la pêche, le tourisme...

  3. 77 FR 2512 - Marine Mammals

    Science.gov (United States)

    2012-01-18

    ... National Oceanic and Atmospheric Administration RIN 0648-XA905 Marine Mammals AGENCY: National Marine...; receipt of application. SUMMARY: Notice is hereby given that Dorian Houser, Ph.D., National Marine Mammal... under the authority of the Marine Mammal Protection Act of 1972, as amended (MMPA; 16 U.S.C. 1361 et...

  4. 75 FR 68605 - Marine Mammals

    Science.gov (United States)

    2010-11-08

    ... Register (75 FR 39915) that a request for a permit to conduct research on gray whales (Eschrictius robustus... National Oceanic and Atmospheric Administration RIN 0648-XX23 Marine Mammals AGENCY: National Marine... Marine Science Center, Newport, OR has been issued a permit to conduct research on marine...

  5. 77 FR 9627 - Marine Mammals

    Science.gov (United States)

    2012-02-17

    ... National Oceanic and Atmospheric Administration RIN 0648-XB005 Marine Mammals AGENCY: National Marine.../2\\ W. 4th Avenue, Olympia, WA 98501, has applied in due form for a permit to take marine mammals in... subject permit is requested under the authority of the Marine Mammal Protection Act of 1972, as...

  6. Autonomous Image Analysis for Future Mars Missions

    Science.gov (United States)

    Gulick, V. C.; Morris, R. L.; Ruzon, M. A.; Bandari, E.; Roush, T. L.

    1999-01-01

    To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to preferentially transmit "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high-resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. We are currently investigating the possibility of reconstructing a 3D surface from a sequence of images

  7. Marine turtle capture data

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — To estimate abundance, growth, and survival rate and to collect tissue samples, marine turtles are captured at nesting beaches and foraging grounds through various...

  8. Marine Pollution Prevention Act

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Marine Pollution Prevention Act of 2008 implements the International Convention for the Prevention of Pollution from Ships, including related Protocols (MARPOL)...

  9. Marine Natural Products Revisited.

    Science.gov (United States)

    Chang, Clifford W. J.

    1978-01-01

    Reports the chemistry of saxitoxin, a paralytic shellfish poison, and other toxins, including the structure of aplysiatoxins. Discusses the chemical signals and defense agents used in intra- and inter- species communication; anticancer agents; and organometallics in the marine environment. (MA)

  10. Marine prostanoids - a review

    Digital Repository Service at National Institute of Oceanography (India)

    Wahidullah, S.; DeSouza, L.

    The occurrence and structure of prostaglandins including clavulones, punaglandins and claviridenones in marine organisms is reviewEd. by comparison of the spectral data reported the identity of 20-acetoxy claviridenones b and c with 20 acetoxy...

  11. WMO Marine Final Reports

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Final reports of the World Meteorological Organization (WMO) Commission for Marine Meteorology, Commission for Synoptic Meteorology, and Commission for Basic...

  12. Mariner Outreach Data

    Data.gov (United States)

    Department of Transportation — This dataset provides MARAD with the ability to determine available personnel and resources in a time of emergency. It also provides a portal for mariners to update...

  13. Marine meteorology and fisheries

    Digital Repository Service at National Institute of Oceanography (India)

    RameshBabu, V.

    importance migrate in response to changes in sea temperature storms of shorter duration also influence the distribution of fish in shallow coastal waters as they set up turbulent conditions to which some species are unable to withstand. Therefore marine...

  14. The marine cyanobacterium

    NARCIS (Netherlands)

    Pade, N.; Compaoré, J.; Klähn, S.; Stal, L.J.; Hagemann, M.

    2012-01-01

    Compatible solutes are small organic molecules that are involved in the acclimation to various stresses such as temperature and salinity. Marine or moderate halotolerant cyanobacteria accumulate glucosylglycerol, while cyanobacteria with low salt tolerance (freshwater strains) usually accumulate suc

  15. LEGACY - EOP Marine Debris

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — These data contains towed diver surveys of and weights of marine debris removed from the near shore environments of the NWHI.

  16. Exopolysaccharides from Marine Bacteria

    Institute of Scientific and Technical Information of China (English)

    CHI Zhenming; FANG Yan

    2005-01-01

    Microbial polysaccharides represent a class of important products of growing interest for many sectors of industry. In recent years, there has been a growing interest in isolating new exopolysaccharides (EPSs)-producing bacteria from marine environments, particularly from various extreme marine environments. Many new marine microbial EPSs with novel chemical compositions, properties and structures have been found to have potential applications in fields such as adhesives,textiles, pharmaceuticals and medicine for anti-cancer, food additives, oil recovery and metal removal in mining and industrial waste treatments, etc This paper gives a brief summary of the information about the EPSs produced by marine bacteria,including their chemical compositions, properties and structures, together with their potential applications in industry.

  17. Marine Reference Materials

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Various publications and other instructions for taking marine weather observations. includes Weather Service Observing Handbook No. 1, Weather Bureau Circular M,...

  18. Marine & hydrokinetic technology development.

    Energy Technology Data Exchange (ETDEWEB)

    LiVecchi, Al (National Renewable Energy Laboratory); Jepsen, Richard Alan

    2010-06-01

    The Wind and Water Power Program supports the development of marine and hydrokinetic devices, which capture energy from waves, tides, ocean currents, the natural flow of water in rivers, and marine thermal gradients, without building new dams or diversions. The program works closely with industry and the Department of Energy's national laboratories to advance the development and testing of marine and hydrokinetic devices. In 2008, the program funded projects to develop and test point absorber, oscillating wave column, and tidal turbine technologies. The program also funds component design, such as techniques for manufacturing and installing coldwater pipes critical for ocean thermal energy conversion (OTEC) systems. Rigorous device testing is necessary to validate and optimize prototypes before beginning full-scale demonstration and deployment. The program supports device testing by providing technology developers with information on testing facilities. Technology developers require access to facilities capable of simulating open-water conditions in order to refine and validate device operability. The program has identified more than 20 tank testing operators in the United States with capabilities suited to the marine and hydrokinetic technology industry. This information is available to the public in the program's Hydrodynamic Testing Facilities Database. The program also supports the development of open-water, grid-connected testing facilities, as well as resource assessments that will improve simulations done in dry-dock and closed-water testing facilities. The program has established two university-led National Marine Renewable Energy Centers to be used for device testing. These centers are located on coasts and will have open-water testing berths, allowing researchers to investigate marine and estuary conditions. Optimal array design, development, modeling and testing are needed to maximize efficiency and electricity generation at marine and

  19. Marine Ecosystem Services

    DEFF Research Database (Denmark)

    Hasler, Berit; Ahtiainen, Heini; Hasselström, Linus;

    MARECOS (Marine Ecosystem Services) er et tværfagligt studie, der har haft til formål at tilvejebringe information vedrørende kortlægning og værdisætning af økosystemtjenester, som kan anvendes i forbindelse med udformning af regulering på det marine område såvel nationalt, som regionalt og...

  20. Marine Energy in Chile

    OpenAIRE

    Antonio Levy

    2012-01-01

    This is the first issue of a new series dedicated to deliver concise information on energy innovation published by the Energy Innovation Center at the IDB. This issue offers a primer on the potential for marine energy in Chile. The ocean is increasingly recognized as a viable source of renewable energy, and Chile, with its long coastline, powerful waves and tidal currents, has captured the attention of marine energy proponents. While harvesting this source of energy would increase sustainabil...

  1. Marine Anthropogenic Litter

    OpenAIRE

    Bergmann, Melanie; Gutow, Lars; Klages, Michael

    2015-01-01

    This book describes how manmade litter, primarily plastic, has spread into the remotest parts of the oceans and covers all aspects of this pollution problem from the impacts on wildlife and human health to socio-economic and political issues. Marine litter is a prime threat to marine wildlife, habitats and food webs worldwide. The book illustrates how advanced technologies from deep-sea research, microbiology and mathematic modelling as well as classic beach litter counts by volunteers co...

  2. A Marine Traffic Flow Model

    OpenAIRE

    Tsz Leung Yip

    2013-01-01

    A model is developed for studying marine traffic flow through classical traffic flow theories, which can provide us with a better understanding of the phenomenon of traffic flow of ships. On one hand, marine traffic has its special features and is fundamentally different from highway, air and pedestrian traffic. The existing traffic models cannot be simply extended to marine traffic without addressing marine traffic features. On the other hand, existing literature on marine traffic focuses on...

  3. PnsICE1基因酵母双杂交诱饵载体构建及转录自激活检测%Construction of Yeast Two-Hybrid Bait Vector of PnsICE1 and Testing of Autonomous Transcriptional Activation

    Institute of Scientific and Technical Information of China (English)

    王艳敏

    2015-01-01

    In order to screen the PnsICE1 interacted proteins,the CDS sequence of PnsICE1 contains pGBKT7 vector homologous sequences was amplified using PCR and inserted into pGBKT7 vector to construct the bait vector for yeast two-hybrid(Y2H)system. Sequencing result showed that the PnsICE1 sequence was inserted into pGBKT7 vector in correct reading frame. Furthermore,the bait vector was transformed into Y2H yeast strain to test the autoactivation. The transformed yeast grew very well on SD/-Trp plate,in the SD/-Trp/X-a-Gal screening yeast,grown on the medium blue single colony,PnsICE1 transcription factor has the transcriptional activation activity.%为了更好地研究与PnsICE1基因互作的蛋白,利用PCR方法扩增含有pGBKT7载体同源序列的PnsICE1基因片段,构建酵母双杂交载体。测序结果表明,构建的目标基因序列正确。将诱饵载体质粒转化酵母菌株Y2H感受态细胞,PnsICE1转化菌在SD/-Trp营养缺陷型培养基中正常生长,在SD/-Trp/X-a-Gal筛选培养基上长出蓝色的酵母单菌落,说明PnsICE1转录因子具有转录自激活活性。

  4. Methods of determining complete sensor requirements for autonomous mobility

    Science.gov (United States)

    Curtis, Steven A. (Inventor)

    2012-01-01

    A method of determining complete sensor requirements for autonomous mobility of an autonomous system includes computing a time variation of each behavior of a set of behaviors of the autonomous system, determining mobility sensitivity to each behavior of the autonomous system, and computing a change in mobility based upon the mobility sensitivity to each behavior and the time variation of each behavior. The method further includes determining the complete sensor requirements of the autonomous system through analysis of the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior, wherein the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior are characteristic of the stability of the autonomous system.

  5. An underwater sensing system for monitoring radioactivity in the marine environment

    OpenAIRE

    C. TSABARIS; I. THANOS

    2012-01-01

    We describe a set up and an application for an autonomously working, radioactivity sensing instrument, usable in seawater and river environments. The system is based on a N aI scintillator with the appropriate specifications for use in the marine environment and for real time acquisition. It is simple, stable for long - term monitoring, and of low consumption. Many tests were carried out for the linearity and the stability of the electronics. The investigation of energy resolution and energy ...

  6. Finite time stability conditions for non autonomous continuous systems

    OpenAIRE

    Moulay, Emmanuel; Perruquetti, Wilfrid

    2008-01-01

    Finite time stability is defined for continuous non autonomous systems. Starting with a result from Haimo Haimo (1986) we then extend this result to n¡dimensional non autonomous systems through the use of smooth and nonsmooth Lyapunov functions as in Perruquetti and Drakunov (2000). One obtains two different sufficient conditions and a necessary one for finite time stability of continuous non autonomous systems.

  7. Managing Autonomous Mobility on Demand Systems for Better Passenger Experience

    OpenAIRE

    Shen, Wen; Lopes, Cristina

    2015-01-01

    Autonomous mobility on demand systems, though still in their infancy, have very promising prospects in providing urban population with sustainable and safe personal mobility in the near future. While much research has been conducted on both autonomous vehicles and mobility on demand systems, to the best of our knowledge, this is the first work that shows how to manage autonomous mobility on demand systems for better passenger experience. We introduce the Expand and Target algorithm which can ...

  8. Non-autonomous Svinolupov Jordan KdV Systems

    OpenAIRE

    Gurses, Metin; Karasu, Atalay; Turhan, Refik

    2001-01-01

    Non-autonomous Svinolupov-Jordan systems are considered. The integrability criteria of such systems are associated with the existence of recursion operators. A new non-autonomous KdV system is obtained and its recursion operator is given for all $N$. The examples for N=2 and N=3 are studied in detail. Some possible transformations are also discussed which map some systems to autonomous cases.

  9. A study of autonomic function tests in obese people

    OpenAIRE

    Rinku Garg, Varun Malhotra, Neera Goel, Usha Dhar, Yogesh Tripathi

    2013-01-01

    Background: Obesity is one of the common significant health hazards and is associated with autonomic dysfunction. Aims and objectives: The present study was designed to assess the underlying autonomic neuropathy in obese subjects and to compare it with age-matched controls. Material and Methods: Thirty obese subjects in the age group of 21-40 years were recruited for the study. Six non-invasive autonomic function tests were performed out of which four were based mainly on parasympathetic cont...

  10. Modeling and Simulation of Autonomous Intersection Management Protocols

    OpenAIRE

    El Kadi, Ayman

    2015-01-01

    The advent of autonomous vehicles enables the possibility for autonomous intersection management technologies, which should provide safe, collision-free crossing, while also reducing traffic delays compared to traffic lights or stop signs. This delay reduction is the product of algorithms and communication protocols that make use of increased precision of autonomous vehicles as opposed to human drivers, allowing vehicles to make split-second decisions on their speed while crossing an intersec...

  11. General outstanding considerations on legal issues applied to autonomous vehicles

    OpenAIRE

    Martinesco, Andrea; Etgens, Victor H.

    2015-01-01

    International audience Even if there are many differences between the autonomous vehicles and aviation, we have tried to show that the long history of automation in airplanes can be a source of inspiration to understand some legal aspects necessary to allow autonomous cars on the streets. Independent on the technological evolution, the premise of this work is to ask the questions that must be faced if a fatal accident involving an autonomous vehicle occurs. In this sense, criminal issues w...

  12. Modelling of a PMSG Wind Turbine with Autonomous Control

    OpenAIRE

    Chia-Nan Wang; Wen-Chang Lin; Xuan-Khoa Le

    2014-01-01

    The aim of this research is to model an autonomous control wind turbine driven permanent magnetic synchronous generator (PMSG) which feeds alternating current (AC) power to the utility grid. Furthermore, this research also demonstrates the effects and the efficiency of PMSG wind turbine which is integrated by autonomous controllers. In order for well autonomous control, two voltage source inverters are used to control wind turbine connecting with the grid. The generator-side inverter is used ...

  13. Evaluation of autonomic functions in subclinical hypothyroid and hypothyroid patients

    OpenAIRE

    Mahajan, Aarti S.; Ram Lal; Dhanwal, Dinesh K.; Jain, Ajay K.; Veena Chowdhury

    2013-01-01

    Background: Autonomic dysfunction may contribute to cardiovascular morbidity in subclinical hypothyroid patients. It is controversial whether the abnormality exists in sympathetic or the parasympathetic function. It is also not known whether the severity of autonomic dysfunction is related to the degree of thyroid deficiency. Design of Study: Prospective case control. Materials and Methods: Autonomic functions based on heart rate (HR) and blood pressure (BP) responses to various maneuvers wer...

  14. Sharing the road: the economics of autonomous vehicles

    OpenAIRE

    Lamotte, Raphaël; De Palma, André; GEROLIMINIS, Nikolas

    2016-01-01

    Automated cars are likely to change mobility substantially in the coming years. Much research is developed in engineering, about legal and behavioral issues, but the economics of autonomous vehicle remains an open area. In this paper, we consider a single-bottleneck situation, in which the capacity of the freeway is divided between conventional and autonomous vehicles. Users of conventional vehicles freely choose their departure time from home, while users of autonomous vehicles collaborate w...

  15. A Generic Agent Organisation Framework For Autonomic Systems

    OpenAIRE

    Kota, Ramachandra; Gibbins, Nicholas; Nicholas R Jennings

    2009-01-01

    Autonomic computing is being advocated as a tool for managing large, complex computing systems. Specifically, self-organisation provides a suitable approach for developing such autonomic systems by incorporating self-management and adaptation properties into large-scale distributed systems. To aid in this development, this paper details a generic problem-solving agent organisation framework that can act as a modelling and simulation platform for autonomic systems. Our framework describes a se...

  16. Basilar artery aneurysm with autonomic features: an interesting pathophysiological problem

    OpenAIRE

    Giffin, N; Goadsby, P

    2001-01-01

    Unruptured cerebral aneurysms often present with neuro-ophthalmological symptoms but ocular autonomic involvement from an aneurysm of the posterior circulation has not previously been reported. A patient is described with a basilar artery aneurysm presenting with headache and unilateral autonomic symptoms. After angiographic coiling of the aneurysm there was a near complete resolution of these features. The relevant anatomy and proposed mechanism of autonomic involvement of what may be ...

  17. Autonomic and surgical substrate modulation of atrial fibrillation

    OpenAIRE

    Krul, S.P.J.

    2016-01-01

    This thesis focuses on the effects of fibrosis and the autonomic nervous system on conduction in patients with atrial fibrillation and the surgical ablation of the atria and autonomic nervous system as treatment of atrial fibrillation. Atrial fibrillation is the most common arrhythmia and results from multiple pathophysiological mechanisms. Both fibrosis and the autonomic nervous system influence the occurrence and maintenance of AF. Animal and clinical studies have shown that the parasympath...

  18. The Problems and its Countermeasures of Autonomous Language Learning Center

    Institute of Scientific and Technical Information of China (English)

    NIE Jian-feng

    2014-01-01

    With the popularity of Computer Assisted Language Learning (CALL), autonomous language learning centers have been established in the universities throughout the country. However, there are many problems exist in the practice of the auton-omous language learning center. This essay tries to discuss the problems and its countermeasures with an aim of improving Col-lege English learning and teaching by the example of autonomous language learning center in Nanyang Institute of Technology.

  19. Cultivation of Autonomous Learning Ability of Students Learning College English

    Institute of Scientific and Technical Information of China (English)

    Yang Ruping; Qiu Shifeng

    2014-01-01

    As the mode of college English teaching is gradually transformed from the teacher-centered into the student-centered teaching mode, the cultivation of college English autonomous learning ability has become increasingly important. This paper, starting from the theory of autonomous learning, makes an analysis of current situation of college English teaching and points out the necessity of this ability-cultivation for English learning. In the end, it puts forward several strategies of cultivating the ability of college English autonomous learning.

  20. The influencing factors and Countermeasures of College Students' Autonomous Learning

    Institute of Scientific and Technical Information of China (English)

    安雨

    2016-01-01

    with the continuous development of society, people's life has become increasingly rich, but with the development of society, we are increasingly being tempted, the most obvious is our life in the University, the students focused on autonomous learning, but with the temptation is more and more big, the college students' autonomous learning learning ability to drop, a lot of people irresistible university life becomes boring temptation. What are the factors that affect college students' autonomous learning?