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Sample records for autonomous marine hybrid

  1. 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

    This paper presents both time-domain and frequency-domain simulated results of a novel marine hybrid renewable-energy power generation/energy storage system (PG/ESS) feeding isolated loads through an high-voltage direct current (HVDC) link. The studied marine PG subsystems comprise both offshore...... 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......) absorbing a part of generated energy from WTGs and WETGs to generate available hydrogen for fuel cells (FCs) are also included in the PG subsystems. The ES subsystems consist of a flywheel energy storage system(FESS) and a compressed air energy storage (CAES) system to balance the required energy in the...

  2. 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...

  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 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...... converters. Suitable control and normalization schemes are now developed for controlling them with the overall hybrid microgrid performance already verified in simulation and experiment....

  5. 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...

  6. 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....

  7. 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.

  8. Photovoltaic-wind hybrid autonomous generation systems in Mongolia

    Energy Technology Data Exchange (ETDEWEB)

    Dei, Tsutomu; Ushiyama, Izumi

    2005-01-01

    Two hybrid stand-alone (autonomous) power systems, each with wind and PV generation, were studied as installed at health clinics in semi-desert and mountainous region in Mongolia. Meteorological and system operation parameters, including power output and the consumption of the system, were generally monitored by sophisticated monitoring. However, where wind and solar site information was lacking, justifiable estimates were made. The results show that there is a seasonal complementary relationship between wind and solar irradiation in Tarot Sum. The users understood the necessity of Demand Side Management of isolated wind-PV generation system through technology transfer seminars and actually executed DSM at both sites. (author)

  9. 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.

  10. 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...

  11. 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.

  12. Latest Sea-Operations in the Macaronesian region with Unmanned Autonomous Marine Gliding Vehicles

    Science.gov (United States)

    Barrera, Carlos; Lorenzo, Alvaro; Viera, Josue; Morales, Tania; Vega, Daura; Rueda, Maria Jose; Llinas, Octavio

    2013-04-01

    Current advances on key marine technology fields provide nowadays a broad range of autonomous unmanned platforms addressed for an efficient and cost-effective ocean observation, with a suitable level of success in terms of endurance, reliability and useful gathered information. In this context, a multidisciplinary family of unmanned autonomous vehicles addressed to monitor both coastal and open-ocean areas plays a relevant role. During the last month, some of the newest unmanned gliding vehicle technologies have been tested within the context of the Oceanic Platform of the Canary Islands (PLOCAN) in varied operational scenarios aiming different technical and scientific purposes, all of them joined in direct partnership with the company provider and other R&D institutions in some cases. Among others, representative examples in this way are the missions under the name Challenger One, Vulcano and SB02 through surface and underwater gliding vehicles, performed mostly in the surrounding subtropical waters of the ESTOC site observatory in the Canary Islands archipelago. The main gathered operational and scientific results from these missions are presented in this work as a sign of new ocean observing technologies within the framework of the Macaronesian Marine and Maritime Observation Strategy (R3M) and linked with the current European rules programs and projects in this field. Keywords: autonomous vehicle, gliders, R3M, ocean observatory, monitoring, marine robotics, ESTOC,

  13. 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...

  14. 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

  15. Hybrid Method Simulation of Slender Marine Structures

    DEFF Research Database (Denmark)

    Christiansen, Niels Hørbye

    deal with time domain simulation of slender marine structures such as mooring lines and flexible risers used in deep sea offshore installations. The first part of the thesis describes how neural networks can be designed and trained to cover a large number of different sea states. Neural networks can...... 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...... critical hot spots along the structure. This means that the relation between external loading and corresponding structural response not necessarily is as direct as for the mooring line example. Hence, one neural network is not sufficient to cover the entire structure. It is demonstrated how a series of...

  16. 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...

  17. 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

  18. 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...

  19. 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. ...

  20. 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...

  1. 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.

  2. 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)

  3. 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

    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......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...

  4. 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

  5. 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.

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

    OpenAIRE

    Thorel, Sylvain

    2014-01-01

    Ce travail est dédié au contrôle non linéaire d'un drone de type quadricoptère dont la spécificité est de pouvoir voler aussi bien que se déplacer en glissant sur le sol, à la façon d'un aéroglisseur. Dans un contexte d'exploration autonome de bâtiment, ce concept hybride permet d'économiser les batteries lorsqu'il n'est pas nécessaire de voler puisque le drone profite des surfaces planes pour se déplacer sans avoir à compenser la gravité ; il peut ainsi prolonger l'autonomie au-delà de la vi...

  7. 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.

  8. 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...

  9. 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...

  10. 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.

  11. 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 ...

  12. 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.

  13. Hybrid speciation in a marine mammal: the clymene dolphin (Stenella clymene).

    Science.gov (United States)

    Amaral, Ana R; Lovewell, Gretchen; Coelho, Maria M; Amato, George; Rosenbaum, Howard C

    2014-01-01

    Natural hybridization may result in the exchange of genetic material between divergent lineages and even the formation of new taxa. Many of the Neo-Darwinian architects argued that, particularly for animal clades, natural hybridization was maladaptive. Recent evidence, however, has falsified this hypothesis, instead indicating that this process may lead to increased biodiversity through the formation of new species. Although such cases of hybrid speciation have been described in plants, fish and insects, they are considered exceptionally rare in mammals. Here we present evidence for a marine mammal, Stenella clymene, arising through natural hybridization. We found phylogenetic discordance between mitochondrial and nuclear markers, which, coupled with a pattern of transgressive segregation seen in the morphometric variation of some characters, support a case of hybrid speciation. S. clymene is currently genetically differentiated from its putative parental species, Stenella coerueloalba and Stenella longisrostris, although low levels of introgressive hybridization may be occurring. Although non-reticulate forms of evolution, such as incomplete lineage sorting, could explain our genetic results, we consider that the genetic and morphological evidence taken together argue more convincingly towards a case of hybrid speciation. We anticipate that our study will bring attention to this important aspect of reticulate evolution in non-model mammal species. The study of speciation through hybridization is an excellent opportunity to understand the mechanisms leading to speciation in the context of gene flow. PMID:24421898

  14. Hybridization masks speciation in the evolutionary history of the Galápagos marine iguana.

    Science.gov (United States)

    MacLeod, Amy; Rodríguez, Ariel; Vences, Miguel; Orozco-terWengel, Pablo; García, Carolina; Trillmich, Fritz; Gentile, Gabriele; Caccone, Adalgisa; Quezada, Galo; Steinfartz, Sebastian

    2015-06-22

    The effects of the direct interaction between hybridization and speciation-two major contrasting evolutionary processes--are poorly understood. We present here the evolutionary history of the Galápagos marine iguana (Amblyrhynchus cristatus) and reveal a case of incipient within--island speciation, which is paralleled by between-island hybridization. In-depth genome-wide analyses suggest that Amblyrhynchus diverged from its sister group, the Galápagos land iguanas, around 4.5 million years ago (Ma), but divergence among extant populations is exceedingly young (less than 50,000 years). Despite Amblyrhynchus appearing as a single long-branch species phylogenetically, we find strong population structure between islands, and one case of incipient speciation of sister lineages within the same island--ostensibly initiated by volcanic events. Hybridization between both lineages is exceedingly rare, yet frequent hybridization with migrants from nearby islands is evident. The contemporary snapshot provided by highly variable markers indicates that speciation events may have occurred throughout the evolutionary history of marine iguanas, though these events are not visible in the deeper phylogenetic trees. We hypothesize that the observed interplay of speciation and hybridization might be a mechanism by which local adaptations, generated by incipient speciation, can be absorbed into a common gene pool, thereby enhancing the evolutionary potential of the species as a whole. PMID:26041359

  15. 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...

  16. 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.

  17. Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle

    OpenAIRE

    Wongpiromsarn, Tichakorn; Mitra, Sayan; Murray, Richard M.; Lamperski, Andrew

    2008-01-01

    This paper introduces Periodically Controlled Hybrid Automata (PCHA) for describing a class of hybrid control systems. In a PCHA, control actions occur roughly periodically while internal and input actions, may occur in the interim changing the discrete-state or the setpoint. Based on periodicity and subtangential conditions, a new sufficient condition for verifying invariance of PCHAs is presented. This technique is used in verifying safety of the planner-controller subsystem of an autonomou...

  18. A hybrid FPGA/Tilera compute element for autonomous hazard detection and navigation

    Science.gov (United States)

    Villalpando, C. Y.; Werner, R. A.; Carson, J. M.; Khanoyan, G.; Stern, R. A.; Trawny, N.

    To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE.

  19. A Hybrid FPGA/Tilera Compute Element for Autonomous Hazard Detection and Navigation

    Science.gov (United States)

    Villalpando, Carlos Y.; Werner, Robert A.; Carson, John M., III; Khanoyan, Garen; Stern, Ryan A.; Trawny, Nikolas

    2013-01-01

    To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE.

  20. 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.

  1. 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.

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

    OpenAIRE

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

    2014-01-01

    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 co...

  3. 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...

  4. 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

  5. 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 robotics, addresses limitations of current BMIs. PMID:24760914

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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...

  11. Hybrid Speciation in a Marine Mammal: The Clymene Dolphin (Stenella clymene)

    OpenAIRE

    Amaral, Ana R.; Lovewell, Gretchen; Coelho, Maria M.; Amato, George; Rosenbaum, Howard C.

    2014-01-01

    Natural hybridization may result in the exchange of genetic material between divergent lineages and even the formation of new taxa. Many of the Neo-Darwinian architects argued that, particularly for animal clades, natural hybridization was maladaptive. Recent evidence, however, has falsified this hypothesis, instead indicating that this process may lead to increased biodiversity through the formation of new species. Although such cases of hybrid speciation have been described in plants, fish ...

  12. 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.

  13. 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...... simulated by an equivalent 80-MW induction generator (IG) while an equivalent 60-MW IG is employed to simulate the characteristics of theMCF. A damping controller for the SMES unit is designed by using modal control theory to contribute effective damping characteristics to the studied combined WF and MCF...... be concluded from the simulated results that the proposed SMES unit combined with the designed damping controller is very effective to stabilize the studied combined WF and MCF under various wind speeds. The inherent fluctuations of the injected active power and reactive power of the WF and MCF to...

  14. 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

  15. 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.

  16. 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

  17. 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.

  18. 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)

  19. 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...

  20. 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...

  1. 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.

  2. 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

  3. 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...

  4. 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 ...

  5. 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.      

  6. 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...

  7. 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.

  8. 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

  9. 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...

  10. DNA Hairpins: Fuel for Autonomous DNA Devices

    OpenAIRE

    Green, Simon J.; Lubrich, Daniel; Turberfield, Andrew J.

    2006-01-01

    We present a study of the hybridization of complementary DNA hairpin loops, with particular reference to their use as fuel for autonomous DNA devices. The rate of spontaneous hybridization between complementary hairpins can be reduced by increasing the neck length or decreasing the loop length. Hairpins with larger loops rapidly form long-lived kissed complexes. Hairpin loops may be opened by strand displacement using an opening strand that contains the same sequence as half of the neck and a...

  11. 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.

  12. 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 ...

  13. 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.

  14. 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 ...

  15. 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 ...

  16. 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...

  17. 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).

  18. 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...

  19. 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...

  20. 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.

  1. Testing for autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1984-01-01

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

  2. 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...

  3. 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...

  4. 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.

  5. 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...

  6. 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

  7. AUTONOMOUS DRIVEN CAR

    OpenAIRE

    Meeshika Arora

    2013-01-01

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

  8. 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.

  9. Engineering Autonomous Driving Software

    OpenAIRE

    Berger, Christian; Rumpe, Bernhard

    2014-01-01

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

  10. 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....

  11. 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...

  12. 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.

  13. 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.

  14. 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

  15. Sensing, Control, and System Integration for Autonomous Vehicles: A Series of Challenges

    Science.gov (United States)

    Özgüner, Ümit; Redmill, Keith

    One of the important examples of mechatronic systems can be found in autonomous ground vehicles. Autonomous ground vehicles provide a series of challenges in sensing, control and system integration. In this paper we consider off-road autonomous vehicles, automated highway systems and urban autonomous driving and indicate the unifying aspects. We specifically consider our own experience during the last twelve years in various demonstrations and challenges in attempting to identify unifying themes. Such unifying themes can be observed in basic hierarchies, hybrid system control approaches and sensor fusion techniques.

  16. 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 ...

  17. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

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

  18. ADAM: ADaptive Autonomous Machine

    NARCIS (Netherlands)

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

    1996-01-01

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

  19. Autonomous Security Patrol System

    OpenAIRE

    Erramouspe, Jake

    2010-01-01

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

  20. Software Architecture for Autonomous Spacecraft

    Science.gov (United States)

    Shih, Jimmy S.

    1997-01-01

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

  1. 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.

  2. 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

  3. 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.

  4. Autonomous single camera exploration

    OpenAIRE

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

    2006-01-01

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

  5. Autonomous Underwater Vehicle control

    OpenAIRE

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

    2005-01-01

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

  6. The autonomous acoustic buoy

    OpenAIRE

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

    2013-01-01

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

  7. 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...

  8. 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.

  9. Trigeminal autonomic cephalalgias.

    Science.gov (United States)

    Eller, M; Goadsby, P J

    2016-01-01

    The trigeminal autonomic cephalalgias (TACs) are a group of primary headache disorders characterised by lateralized symptoms: prominent headache and ipsilateral cranial autonomic features, such as conjunctival injection, lacrimation and rhinorrhea. The TACs are: cluster headache (CH), paroxysmal hemicrania (PH), short-lasting unilateral neuralgiform headache attacks with conjunctival injection and tearing (SUNCT)/short-lasting neuralgiform headache attacks with cranial autonomic features (SUNA) and hemicrania continua (HC). Their diagnostic criteria are outlined in the International Classification of Headache Disorders, third edition-beta (ICHD-IIIb). These conditions are distinguished by their attack duration and frequency, as well as response to treatment. HC is continuous and by definition responsive to indomethacin. The main differential when considering this headache is chronic migraine. Other TACs are remarkable for their short duration and must be distinguished from other short-lasting painful conditions, such as trigeminal neuralgia and primary stabbing headache. Cluster headache is characterised by exquisitely painful attacks that occur in discrete episodes lasting 15-180 min a few times a day. In comparison, PH occurs more frequently and is of shorter duration, and like HC is responsive to indomethacin. SUNCT/SUNA is the shortest duration and highest frequency TAC; attacks can occur over a hundred times every day. PMID:24888770

  10. 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...

  11. 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...

  12. 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...

  13. Resource-Optimal Planning For An Autonomous Planetary Vehicle

    CERN Document Server

    Della Penna, Giuseppe; Magazzeni, Daniele; Mercorio, Fabio; 10.5121/ijaia.2010.1302

    2010-01-01

    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 ...

  14. 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...

  15. 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...

  16. Catecholamines and diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1995-01-01

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

  17. 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...

  18. 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.

  19. Collaborating with Autonomous Agents

    Science.gov (United States)

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

    2015-01-01

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

  20. 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...

  1. Autonomous component carrier selection

    DEFF Research Database (Denmark)

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

    2009-01-01

    in local areas, basing our study case on LTE-Advanced. We present extensive network simulation results to demonstrate that a simple and robust interference management scheme, called autonomous component carrier selection allows each cell to select the most attractive frequency configuration; improving...... management and efficient system operation. Due to the expected large number of user-deployed cells, centralized network planning becomes unpractical and new scalable alternatives must be sought. In this article, we propose a fully distributed and scalable solution to the interference management problem...

  2. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

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

  3. 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.

  4. 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; Stahl, DA

    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 is a...... between 18% and 25% to the prokaryotic rRNA pool. The dominant SRB were related to complete oxidizing genera (Desulphococcus, Desulphosarcina and Desulphobacterium), while Desulpho-bacter could not be detected. The vertical profile and quantity of rRNA from SRB was compared with sulphate reduction rates...... (SRR) measured with (SO42-)-S-35 tracer in whole-core incubations. While SRB abundance was highest near the surface, peaking at around 1.5cm, measured sulphate reduction rates were lowest in this region. A second peak of SRB rRNA was observed at the transition zone from oxidized to reduced sediment...

  5. 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.

  6. 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.

  7. 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.

  8. 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…

  9. 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

  10. 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...

  11. 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

  12. 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.

  13. 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...

  14. 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.

  15. 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,

  16. 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.

  17. 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...

  18. Marine Biology

    Science.gov (United States)

    Dewees, Christopher M.; Hooper, Jon K.

    1976-01-01

    A variety of informational material for a course in marine biology or oceanology at the secondary level is presented. Among the topics discussed are: food webs and pyramids, planktonic blooms, marine life, plankton nets, food chains, phytoplankton, zooplankton, larval plankton and filter feeders. (BT)

  19. 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.

  20. 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.

  1. Autonomic Dysregulation in Multiple Sclerosis.

    Science.gov (United States)

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

    2015-01-01

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

  2. 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...

  3. 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.

  4. Autonomous Gaussian Decomposition

    Science.gov (United States)

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

    2015-04-01

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

  5. Semantic Web Meets Autonomic Ubicomp

    OpenAIRE

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

    2004-01-01

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

  6. Design of Autonomous Gel Actuators

    OpenAIRE

    Shuji Hashimoto; Shingo Maeda; Yusuke Hara; Satoshi Nakamaru

    2011-01-01

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

  7. Design of Autonomous Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto

    2011-01-01

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

  8. 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.

  9. Autonomous vertical profiler data management

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  10. 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.

  11. 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.

  12. 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

  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. Hierarchical, Hybrid Control Of Large Scale Systems

    OpenAIRE

    Lygeros, John

    1996-01-01

    This dissertation presents a hierarchical, hybrid point of view to the control of large-scale systems. The analysis is based on a new hybrid dynamical system formulation that allows for the modelling of large scale systems in a modular fashion. Three problems are addressed: controller design, closed loop performance verification and the extension of system autonomy. A control scheme based on semi-autonomous agent operation is first proposed. An algorithm, using ideas from game theory, is pres...

  15. Marine aerosols

    OpenAIRE

    Saltzman, Es

    2009-01-01

    The aerosol over the world oceans plays an important role in determining the physical and chemical characteristics of the Earth's atmosphere and its interactions with the climate system. The oceans contribute to the aerosols in the overlying atmosphere by the production and emission of aerosol particles and precursor gases. The marine aerosol, in turn, influences the biogeochemistry of the surface ocean through long distance transport and deposition of terrestrial and marine-derived nutrients...

  16. 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...

  17. Autonomic control of the eye

    Science.gov (United States)

    McDougal, David H.; Gamlin, Paul D.

    2016-01-01

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

  18. 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.

  19. 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.

  20. Autonomic Function in Neurodegenerative Diseases

    DEFF Research Database (Denmark)

    Sørensen, Gertrud Laura; Jennum, Poul Jørgen

    2013-01-01

    involving brain stem areas, which is consistent with the Braak hypothesis. In the narcolepsy patients, it was shown that a reduced HRR to arousals was primarily predicted by hypocretin deficiency in both rapid-eye-movement (REM) and non-REM sleep, independent of cataplexy and other factors. The results......, which includes the cardiac centre and controls autonomic functions, and therefore autonomic dysfunction may be experienced early in the disease course. Sleep disturbances are also common non-motor complications of PD, and therefore PD patients undergo polysomnography at the Danish Center for Sleep...... narcolepsy patients on autonomic function and on the sleep transition rate. The results showed an attenuated heart rate response (HRR) in PD patients compared to controls and early PD (iRBD patients). Also iRBD patients had an attenuated HRR compared to control subjects, and the method to measure the HRR may...

  1. 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.

  2. Discerning non-autonomous dynamics

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-09-30

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

  3. Autonomous Home Automated Hexapod Robot

    Directory of Open Access Journals (Sweden)

    Addanki Purna Ramesh,

    2010-12-01

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

  4. Progress towards autonomous, intelligent systems

    Science.gov (United States)

    Lum, Henry; Heer, Ewald

    1987-01-01

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

  5. Discerning non-autonomous dynamics

    International Nuclear Information System (INIS)

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

  6. Gas House Autonomous System Monitoring

    Science.gov (United States)

    Miller, Luke; Edsall, Ashley

    2015-01-01

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

  7. Intelligent, autonomous systems in space

    Science.gov (United States)

    Lum, H.; Heer, E.

    1988-01-01

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

  8. Contingency Software in Autonomous Systems

    Science.gov (United States)

    Lutz, Robyn; Patterson-Hine, Ann

    2006-01-01

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

  9. 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.

  10. A Robust Compositional Architecture for Autonomous Systems

    Science.gov (United States)

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

    2006-01-01

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

  11. 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...

  12. The Bering Autonomous Target Detection

    DEFF Research Database (Denmark)

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

    2003-01-01

    telescopes. The method has proven robust in operation and is well suited for use onboard spacecraft. As development target for the method and the associated instrumentation the asteroid research mission Bering has been used. Onboard a spacecraft, the autonomous detection is centered around the fully...

  13. 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 .

  14. Autonomous systems for plant protection

    DEFF Research Database (Denmark)

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

    2010-01-01

    autonomous operations related to crop protection probably commercially available in the near future. Scouting and monitoring together with the efficient application of chemicals or mechanical treatments are operations which can be successful automated. Drawbacks are that current systems are lacking robust...

  15. 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

  16. Autonomous Duffing-Holmes Type Chaotic Oscillator

    DEFF Research Database (Denmark)

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

    2009-01-01

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

  17. 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.

  18. 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.

  19. Autonomic computing enabled cooperative networked design

    CERN Document Server

    Wodczak, Michal

    2014-01-01

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

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

    Science.gov (United States)

    Wehner, Walter S., Jr.

    2013-01-01

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

  1. 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.

  2. 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.

  3. 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.

  4. 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...

  5. Marine indikatorer

    OpenAIRE

    van der Meeren, Gro; Øigård, Tor Arne; Øien, Nils; Nilssen, Kjell Tormod; Oug, Eivind; Sunnanå, Knut; JAKOBSEN Tore; Mehl, Sigbjørn; Kvamme, Cecilie; Torstensen, Else; Stenevik, Erling Kåre; Planque, Benjamin; Helle, Gunnar; Gjøsæter, Jakob; Skiftesvik, Anne Berit

    2010-01-01

    The Nature Index (NI) is established to get an overview of the state and development of biodiversity within the major ecosystems of Norway. It includes marine, limnic and terrestrial ecosystems. The aim of the index is to measure if Norway manage to halt the loss of biodiversity by the end of 2010. A number of indicators are chosen to represent the state of biodiversity. 125 scientists from various disciplines of research have contributed with data, expert judgements or modeled data for 31...

  6. 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...

  7. 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...

  8. 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...

  9. 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...

  10. Development of autonomous operation system

    International Nuclear Information System (INIS)

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

  11. 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

  12. 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...

  13. 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

  14. Advancing Autonomous Structural Health Monitoring

    OpenAIRE

    Grisso, Benjamin Luke

    2007-01-01

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

  15. 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...

  16. Autonomous gliding entry guidance with

    OpenAIRE

    Guo Jie; Wu Xuzhong; Tang Shengjing

    2015-01-01

    This paper presents a novel three-dimensional autonomous entry guidance for relatively high lift-to-drag ratio vehicles satisfying geographic constraints and other path constraints. The guidance is composed of onboard trajectory planning and robust trajectory tracking. For trajectory planning, a longitudinal sub-planner is introduced to generate a feasible drag-versus-energy profile by using the interpolation between upper boundary and lower boundary of entry corridor to get the desired traje...

  17. Robotic perception for autonomous navigation

    OpenAIRE

    Furlan,

    2014-01-01

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

  18. 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...

  19. 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...

  20. Autonomous Behavior of Computational Agents

    Czech Academy of Sciences Publication Activity Database

    Vaculín, Roman; Neruda, Roman

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

  1. 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.

  2. 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.

  3. 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.

  4. Oscillatory Adaptive Yaw-Plane Control of Biorobotic Autonomous Underwater Vehicles Using Pectoral-Like Fins

    OpenAIRE

    Mugdha S. Naik; Sahjendra N. Singh

    2007-01-01

    This article considers the control of a biorobotic autonomous underwater vehicle (BAUV) in the yaw plane using biologically inspired oscillatory pectoral-like fins of marine animals. The fins are assumed to be oscillating harmonically with a combined linear (sway) and angular (yaw) motion producing unsteady forces, which are used for fish-like control of BAUVs. Manoeuvring of the BAUV in the yaw plane is accomplished by altering the bias (mean) angle of the angular motion of the fin. For the ...

  5. A new method for ecological surveying of the abyss using autonomous underwater vehicle photography

    OpenAIRE

    Morris, Kirsty J.; Bett, Brian J.; Durden, Jennifer M.; Huvenne, Veerle A. I.; Milligan, Rosanna; Jones, Daniel O.B.; McPhail, Stephen; Robert, Katleen; Bailey, David M.; Ruhl, Henry A.

    2014-01-01

    The extent and speed of marine environmental mapping is increasing quickly with technological advances, particularly with optical imaging from autonomous underwater vehicles (AUVs). This contribution describes a new deep-sea digital still camera system that takes high-frequency (>1 Hz) color photographs of the seafloor, suitable for detailed biological and habitat assessment, and the means of efficient processing of this mass imagery, to allow assessment across a wide range of spatial scales ...

  6. 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...

  7. Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer

    Science.gov (United States)

    Shrading, Nicholas J.

    2012-01-01

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

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

    Science.gov (United States)

    Schrading, J. Nicolas

    2013-01-01

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

  9. 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...

  10. 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...

  11. 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...

  12. 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.

  13. 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.

  14. 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...

  15. 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...

  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. Obstacle Detection and Avoidance Autonomous Car

    OpenAIRE

    K.Vasavi; M.V.S.Praveen

    2014-01-01

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

  18. Tele/Autonomous Robot For Nuclear Facilities

    Science.gov (United States)

    Backes, Paul G.; Tso, Kam S.

    1994-01-01

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

  19. 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.

  20. Autonomous vehicle control systems for safe crossroads

    OpenAIRE

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

    2011-01-01

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

  1. 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.

  2. 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

  3. 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.

  4. 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)

  5. Autonomic Function in Neurodegenerative Diseases

    DEFF Research Database (Denmark)

    Sørensen, Gertrud Laura; Jennum, Poul Jørgen

    2013-01-01

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

  6. Konstruktion av en autonom vindstation

    OpenAIRE

    Larsson, Joel; Starck, Patrik

    2015-01-01

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

  7. BART: The Czech Autonomous Observatory

    Czech Academy of Sciences Publication Activity Database

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

    2010-01-01

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

  8. 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.

  9. 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.

  10. 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.

  11. Autonomous Real Time Requirements Tracing

    Science.gov (United States)

    Plattsmier, George; Stetson, Howard

    2014-01-01

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

  12. Fuzzy control of autonomous robot

    International Nuclear Information System (INIS)

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

  13. 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.

  14. 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.

  15. Survivability design for a hybrid underwater vehicle

    International Nuclear Information System (INIS)

    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

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

    OpenAIRE

    Michael A. Hurni; Kiriakos Kiriakidis

    2015-01-01

    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 mul...

  17. 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...

  18. 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.

  19. 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.

  20. 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.

  1. Structured control for autonomous robots

    International Nuclear Information System (INIS)

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

  2. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-02-01

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

  4. Autonomic Nervous System and Immune System Interactions

    OpenAIRE

    Kenney, MJ; Ganta, CK

    2014-01-01

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

  5. Autonomous Control of Space Reactor Systems

    International Nuclear Information System (INIS)

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

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

    Science.gov (United States)

    Ailani, Jessica

    2016-05-01

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

  7. 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

  8. 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.

  9. Autonomic Management for Multi-agent Systems

    CERN Document Server

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

    2011-01-01

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

  10. 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.

  11. 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.

  12. 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.

  13. 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 ...

  14. 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.

  15. 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.

  16. 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.

  17. Sleep in trigeminal autonomic cephalagias

    DEFF Research Database (Denmark)

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

    2014-01-01

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

  18. Digital autonomous terminal access communications

    Science.gov (United States)

    Novacki, S.

    1987-01-01

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

  19. 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.

  20. 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.

  1. 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?

  2. 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.

  3. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

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

  4. 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.

  5. 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.

  6. 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.

  7. 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...

  8. 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).

  9. 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.

  10. Cardiovascular autonomic dysfunctions and sleep disorders.

    Science.gov (United States)

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

    2016-04-01

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

  11. 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...

  12. Autonomous underwater pipeline monitoring navigation system

    Science.gov (United States)

    Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

    2014-06-01

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

  13. 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.

  14. Autonomous Bicycle: The First Self Balanced Ride

    OpenAIRE

    Ånnestad, Dag Christian

    2011-01-01

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

  15. 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.

  16. 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...

  17. A Primer on Autonomous Aerial Vehicle Design

    Science.gov (United States)

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

    2015-01-01

    There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers. PMID:26633410

  18. 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.

  19. 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

  20. 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...

  1. 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...

  2. Autonomic symptoms in idiopathic REM behavior disorder

    DEFF Research Database (Denmark)

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

    2014-01-01

    Patients with idiopathic REM sleep behavior disorder (iRBD) are at very high risk of developing neurodegenerative synucleinopathies, which are disorders with prominent autonomic dysfunction. Several studies have documented autonomic dysfunction in iRBD, but large-scale assessment of autonomic...... symptoms has never been systematically performed. Patients with polysomnography-confirmed iRBD (318 cases) and controls (137 healthy volunteers and 181 sleep center controls with sleep diagnoses other than RBD) were recruited from 13 neurological centers in 10 countries from 2008 to 2011. A validated scale...... to study the disorders of the autonomic nervous system in Parkinson's disease (PD) patients, the SCOPA-AUT, was administered to all the patients and controls. The SCOPA-AUT consists of 25 items assessing the following domains: gastrointestinal, urinary, cardiovascular, thermoregulatory, pupillomotor...

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. Autonomic Findings in Takotsubo Cardiomyopathy.

    Science.gov (United States)

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

    2016-01-15

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

  8. 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.

  9. Semi-Autonomous Vehicle Project

    Science.gov (United States)

    Stewart, Christopher

    2016-01-01

    The primary objective this summer is "evaluating standards for wireless architecture for the internet of things". The Internet of Things is the network of physical objects or "things" embedded with electronics, software, sensors and network connectivity which enables these objects to collect and exchange data and make decisions based on said data. This was accomplished by creating a semi-autonomous vehicle that takes advantage of multiple sensors, cameras, and onboard computers and combined them with a mesh network which enabled communication across large distances with little to no interruption. The mesh network took advantage of what is known as DTN - Disruption Tolerant Networking which according to NASA is the new communications protocol that is "the first step towards interplanetary internet." The use of DTN comes from the fact that it will store information if an interruption in communications is detected and even forward that information via other relays within range so that the data is not lost. This translates well into the project because as the car moves further away from whatever is sending it commands (in this case a joystick), the information can still be forwarded to the car with little to no loss of information thanks to the mesh nodes around the driving area.

  10. Autonomous gliding entry guidance with

    Directory of Open Access Journals (Sweden)

    Guo Jie

    2015-10-01

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

  11. 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

  12. 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...

  13. 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. ...

  14. 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...

  15. Tele-robotic/autonomous control using controlshell

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-12-10

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

  16. Decentralized Coordination of Autonomous Vehicles at intersections

    OpenAIRE

    Makarem, Laleh; Gillet, Denis

    2011-01-01

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

  17. Omnidirectional Stereo Vision for Autonomous Vehicles

    OpenAIRE

    Schönbein, Miriam

    2014-01-01

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

  18. Autonomous navigation and sign detector learning

    OpenAIRE

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

    2013-01-01

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

  19. Autonomous Path Following Using Convolutional Networks

    OpenAIRE

    Schmiterlöw, Maria

    2012-01-01

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

  20. 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...

  1. Control of the MARES Autonomous Underwater Vehicle

    OpenAIRE

    Bruno Ferreira; Miguel Pinto; Anibal Matos; Nuno Cruz

    2009-01-01

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

  2. 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...

  3. 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...

  4. 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)

  5. 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.

  6. 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...

  7. 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...

  8. 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.

  9. 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...

  10. Validation Of MERIS-Derived Turbidity And Par Attenuation Using Autonomous Buoy Data

    Science.gov (United States)

    Vanhellemont, Quinten; Greenwood, Naomi; Ruddick, Kevin

    2013-12-01

    Ocean colour remote sensing is becoming well- established for the monitoring of coastal waters. However, validation of satellite-derived products remains problematic, as matchups of in situ data and cloud-free satellite data are costly and difficult to obtain with ship-based measurements. We present a validation of several MERIS algorithms for turbidity (T) and attenuation of photosynthetically active radiation (KPAR), using measurements from three autonomous buoys in coastal waters, two in the North Sea, and one in the Irish sea. In situ data were combined with marine reflectance spectra and level 2 products from multiple processing versions. The merged dataset contains several hundreds of matchups and allows for flexible testing of retrieval algorithms for T and KPAR. Autonomous systems prove to be powerful tools for validating satellite data in dynamic coastal waters, where changes occur quickly both in space and time.

  11. Advancing Autonomous Operations for Deep Space Vehicles

    Science.gov (United States)

    Haddock, Angie T.; Stetson, Howard K.

    2014-01-01

    Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

  12. Chinese Marine Materia Medica

    OpenAIRE

    Peter Proksch

    2014-01-01

    China is one of the first countries to use marine materia medica for treating diseases. Ancient books on Chinese herbology, such as Shennong Bencaojing (Shennong’s Classic of Materia Medica), Xinxiu Bencao (Newly Revised Materia Medica) and Bencao Gangmu (Compendium of Materia Medica), have detailed more than 110 marine herbs and thousands of marine herbal formulas (including those for Chinese food therapy). A great deal of information on marine herbs and their applications in medicine, colle...

  13. 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...

  14. Interpopulation hybrid breakdown maps to the mitochondrial genome.

    Science.gov (United States)

    Ellison, Christopher K; Burton, Ronald S

    2008-03-01

    Hybrid breakdown, or outbreeding depression, is the loss of fitness observed in crosses between genetically divergent populations. The role of maternally inherited mitochondrial genomes in hybrid breakdown has not been widely examined. Using laboratory crosses of the marine copepod Tigriopus californicus, we report that the low fitness of F(3) hybrids is completely restored in the offspring of maternal backcrosses, where parental mitochondrial and nuclear genomic combinations are reassembled. Paternal backcrosses, which result in mismatched mitochondrial and nuclear genomes, fail to restore hybrid fitness. These results suggest that fitness loss in T. californicus hybrids is completely attributable to nuclear-mitochondrial genomic interactions. Analyses of ATP synthetic capacity in isolated mitochondria from hybrid and backcross animals found that reduced ATP synthesis in hybrids was also largely restored in backcrosses, again with maternal backcrosses outperforming paternal backcrosses. The strong fitness consequences of nuclear-mitochondrial interactions have important, and often overlooked, implications for evolutionary and conservation biology. PMID:18081717

  15. 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…

  16. 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...

  17. Flare Hybrids

    OpenAIRE

    M. Tomczak; Dubieniecki, P.

    2015-01-01

    Svestka (Solar Phys. 1989, 121, 399) on the basis of the Solar Maximum Mission observations introduced a new class of flares, the so-called flare hybrids. When they start, they look as typical compact flares (phase 1), but later on they look like flares with arcades of magnetic loops (phase 2). We summarize the features of flare hybrids in soft and hard X-rays as well as in extreme-ultraviolet; these allow us to distinguish them from other flares. Additional energy release or long plasma cool...

  18. Improved autonomous star identification algorithm

    Science.gov (United States)

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

    2015-06-01

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

  19. Compact Autonomous Hemispheric Vision System

    Science.gov (United States)

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

    2012-01-01

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

  20. 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.

  1. 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.

  2. 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.

  3. 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...

  4. 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

  5. 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.

    challenge for technology. Biosensors which can detect bioluminescence and other biological activities would play a major role. Autonomous instrumentation outfitted with different types of in-situ sensors would collect data without disturbing the system...

  6. 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...

  7. 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.

  8. 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...

  9. 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...... 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...... blood pressure fall ensues in patients with autonomic neuropathy, probably due to excessive muscular vasodilation. It is unresolved why blood pressure regulation is intact during hypoglycemia and severely impaired--at similar catecholamine concentrations--during epinephrine infusions....

  10. 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.

  11. 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...... update of the estimated robot position while the robot is moving. In order to make the system autonomous, both acquisition and observation of landmarks have to be carried out automatically. The thesis consequently proposes a method for learning and navigation of a working environment and it explores......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...

  12. 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...

  13. Autonomous forward inference via DNA computing

    Institute of Scientific and Technical Information of China (English)

    Fu Yan; Li Gen; Li Yin; Meng Dazhi

    2007-01-01

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

  14. 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...

  15. 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.

  16. 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.

  17. 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

  18. 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

  19. 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...

  20. Light Sailboats: Laser driven autonomous microrobots

    CERN Document Server

    Búzás, Anrdás; Mathesz, Anna; Oroszi, László; Vizsnyiczai, Gaszton; Vicsek, Tamás; Ormos, Pál; 10.1063/1.4737646

    2012-01-01

    We introduce a system of light driven microscopic autonomous moving particles that move on a flat surface. The design is simple, yet effective: Micrometer sized objects with wedge shape are produced by photopolymerization, they are covered with a reflective surface. When the area of motion is illuminated perpendicularly from above, the light is deflected to the side by the wedge shaped objects, in the direction determined by the position and orientation of the particles. The momentum change during reflection provides the driving force for an effectively autonomous motion. The system is an efficient tool to study self propelled microscopic robots.

  1. Reflex control for safe autonomous robot operation

    International Nuclear Information System (INIS)

    This paper describes the design of an autonomous, sonar-based world mapping system for collision prevention in robotic systems. Obstacle detection and mapping is performed as a task that competes with higher-level tasks for the robot's attention. All tasks are integrated within a hierarchy, organized and co-ordinated by schemes analogous to biological reflexes and fixed action patterns. It is illustrated how the existence of low-level reflex behaviours can enhance the survivability and autonomy of complex systems and simplify the design of complex higher-level controls like our autonomous sonar-based world mapping system

  2. Design of an autonomous exterior security robot

    Science.gov (United States)

    Myers, Scott D.

    1994-01-01

    This paper discusses the requirements and preliminary design of robotic vehicle designed for performing autonomous exterior perimeter security patrols around warehouse areas, ammunition supply depots, and industrial parks for the U.S. Department of Defense. The preliminary design allows for the operation of up to eight vehicles in a six kilometer by six kilometer zone with autonomous navigation and obstacle avoidance. In addition to detection of crawling intruders at 100 meters, the system must perform real-time inventory checking and database comparisons using a microwave tags system.

  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. 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.

  5. 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.

  6. 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...

  7. 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.

  8. 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.

  9. 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 ...

  10. Marine-Design Education

    DEFF Research Database (Denmark)

    Andersen, Poul; Birmingham, R.; Sortland, B.;

    2006-01-01

    This report addresses Marine-Design Education in view of present and forecasted demands of the maritime industry, determined by a drastically transforming economic and technological maritime environment. In this framework, this report discusses in depth IT-based Marine Design education (par. 4) and...... continuity between traditional and modern ways of teaching (par. 4) and points out that Marine Design education is not only about Design, but should also address project/business administration and decision making issues (par. 7)....

  11. 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...

  12. 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

  13. 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.

  14. Hard-real-time resource management for autonomous spacecraft

    Science.gov (United States)

    Gat, E.

    2000-01-01

    This paper describes tickets, a computational mechanism for hard-real-time autonomous resource management. Autonomous spacecraftcontrol can be considered abstractly as a computational process whose outputs are spacecraft commands.

  15. Navigation of autonomous underwater vehicle using extended kalman filter

    Digital Repository Service at National Institute of Oceanography (India)

    Ranjan, T.N.; Nherakkol, A.; Navelkar, G.S.

    To navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in its application. A truly autonomous vehicle must determine its position which requires the optimal integration of all available attitude...

  16. 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.

  17. 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...

  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. 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.

  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. PMID:20731790

  4. Reconfigurability Analysis Method for Spacecraft Autonomous Control

    OpenAIRE

    Dayi Wang; Chengrui Liu

    2014-01-01

    As a critical requirement for spacecraft autonomous control, reconfigurability should be considered in design stage of spacecrafts by involving effective reconfigurability analysis method in guiding system designs. In this paper, a novel reconfigurability analysis method is proposed for spacecraft design. First, some basic definitions regarding spacecraft reconfigurability are given. Then, based on function tree theory, a reconfigurability modeling approach is established to properly describe...

  5. 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.

  6. 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

  7. Autonomous operation of distributed storages in microgrids

    DEFF Research Database (Denmark)

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

    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....

  8. 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.

  9. Autonomous Robot Navigation In Public Nature Park

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Andersen, Nils Axel; Ravn, Ole; Blas, Morten Rufus

    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. 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

  11. 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.

  12. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

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

  13. 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

  14. 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.

  15. Modeling and motion analysis of autonomous paragliders

    OpenAIRE

    Chiara Toglia; Marilena Vendittelli

    2010-01-01

    This report describes a preliminary study on modeling and control of parafoil and payload systems with the twofold objective of developing tools for automatic testing and classification of parafoils and of devising autonomous paragliders able to accomplish long-range delivery or monitoring tasks. Three different models of decreasing complexity are derived and their accuracy compared by simulation.

  16. 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.

  17. Autonomic neuropathy in acute intermittent porphyria.

    OpenAIRE

    Laiwah, A C; Macphee, G. J.; P Boyle; Moore, M R; Goldberg, A

    1985-01-01

    Autonomic function was assessed in subjects with acute intermittent porphyria and age- and sex-matched controls using five different bedside tests of cardiovascular reflexes. During the acute attack both parasympathetic and sympathetic tests were impaired, but subsequently improved during remission. Early parasympathetic dysfunction was also detected during remission and in latent asymptomatic acute intermittent porphyria.

  18. 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…

  19. 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.

  20. 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…

  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. PMID:26227680

  2. Autonomous droop scheme with reduced generation cost

    DEFF Research Database (Denmark)

    Nutkani, Inam Ullah; Loh, Poh Chiang; Blaabjerg, Frede

    2013-01-01

    DGs are usually of different types unlike synchronous generators. This paper presents an autonomous droop scheme that takes into consideration the operating cost, efficiency and emission penalty of each DG since all these factors directly or indirectly contributes to the Total Generation Cost (TGC...

  3. 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

  4. 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.

  5. Autonomous Language Learning: The Teachers' Perspectives.

    Science.gov (United States)

    Chan, Victoria

    2003-01-01

    Reports on a large-scale study on learner autonomy in language learning carried out with students and English teachers at the Hong Kong Polytechnic University. Examines the teachers' views of their roles and responsibilities, their assessment of their students'decision-making abilities and the autonomous language learning activities that they have…

  6. 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.

  7. 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)

  8. Hybrid Gear

    Science.gov (United States)

    Handschuh, Robert F. (Inventor); Roberts, Gary D. (Inventor)

    2016-01-01

    A hybrid gear consisting of metallic outer rim with gear teeth and metallic hub in combination with a composite lay up between the shaft interface (hub) and gear tooth rim is described. The composite lay-up lightens the gear member while having similar torque carrying capability and it attenuates the impact loading driven noise/vibration that is typical in gear systems. The gear has the same operational capability with respect to shaft speed, torque, and temperature as an all-metallic gear as used in aerospace gear design.

  9. 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

  10. 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...

  11. 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 GORDON GUNTER in the Florida Keys National Marine Sanctuary, Gulf of Mexico and North Atlantic Ocean from 2009-02-04 to 2009-11-08 (NODC Accession 0117704)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — NODC Accession 0117704 includes Surface underway, chemical, meteorological and physical data collected from GORDON GUNTER in the Florida Keys National Marine...

  12. 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...

  13. 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...

  14. 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

  15. 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 ...

  16. Exploring marine life

    Digital Repository Service at National Institute of Oceanography (India)

    Nair, V.R.

    Sea abounds in a variety of plant and animal life. Census of Marine Life (CoML), a global program aims to understand the diversity, geographic distribution and abundance of marine species from pole to pole covering estuarine, coastal and oceanic...

  17. 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

  18. 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.

  19. 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...

  20. IMOS, an Integrated Marine Observing System for Australia

    Science.gov (United States)

    Seuront, L.; Leterme, S. C.

    2009-04-01

    IMOS is a distributed set of equipment and data-information services which collectively contribute to meeting the needs of marine climate research in Australia. The observing system provides data in the open oceans around Australia out to a few thousand kilometres as well as the coastal oceans through 11 facilities (Argo Australia, Ships of Opportunity, Southern Ocean Time Series, Australian National Facility for Ocean Gliders, Autonomous Underwater Vehicle Facility, Australian National Mooring Network, Australian Coastal Ocean Radar Network, Australian Acoustic Tagging and Monitoring System, Facility for Automated Intelligent Monitoring of Marine Systems, eMarine Information Infrastructure and Satellite Remote Sensing) and 5 nodes (Blue Water, Great Barrier Reef Ocean Observing System, New South Wales IMOS, Southern Australia IMOS and Western Australia IMOS).The data are made available to researchers through the electronic Marine Information Infrastructure (eMII). Specifically, IMOS also incorporates a National Reference Station infrastructure (NRS) based on 9 stations in the coastal ocean around Australia. The NRS is (i) multi-disciplinary and integrated with the collection of over 60 marine parameters, (ii) modular, which allows for deployment with or without a surface signature, and (iii) versatilely based on regionally scaled logistics. After introducing the philosophy of IMOS and its implementation, the first results obtained through a suite of facilities will be illustrated across different nodes.

  1. 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...

  2. 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.......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....

  3. 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...

  4. 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...

  5. 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.

  6. 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%.

  7. 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.

  8. Hybridized Tetraquarks

    CERN Document Server

    Esposito, A; Polosa, A D

    2016-01-01

    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. The latter would require a negative or zero binding energy whose counterpart in h-tetraquarks is a positive quantity. 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 Bs pi+- 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.

  9. 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.

  10. Shipboard DC Hybrid Power Systems: Modeling, efficiency analysis and stability control

    OpenAIRE

    Zahedi, Bijan

    2014-01-01

    DC hybrid power systems are currently of interest for ship commercial marine vessels to enable low-emission and fuel-efficient operation. The benefit of using these systems is also to provide space and weight savings onboard ships. However, a shipboard dc hybrid power system requires effective analysis tools to realize the advantages.Modeling and simulation are essential tools to facilitate design, analysis, optimization, and control of the dc hybrid power systems. The standard power system s...

  11. 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

  12. Forced synchronization of autonomous dynamical Boolean networks

    International Nuclear Information System (INIS)

    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

  13. 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.

  14. 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.

  15. 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...

  16. 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.

  17. 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...

  18. A mission planner for an autonomous tractor

    DEFF Research Database (Denmark)

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

    2009-01-01

    In this article, a mission planner of field coverage operations for an autonomous agricultural tractor is presented. Missions for a particular autonomous tractor are defined using an XML (extendible markup language) formatted file that can be uploaded to the tractor through the user interface....... Using the tree hierarchy of the mission file, several actions are determined, including the sequence of points the tractor has to follow, the type of motion between successive points (e.g.,straight motion or maneuvering), the type of predefined turning routine used in maneuvering, and the actions...... that should be taken once the tractor reaches the desired point (e.g., raising or lowering the attached tool, turning on or turning off the ower take-off). In order to automatically create the XML mission files, a program was developed using the MATLAB technical programming language. The program uses data...

  19. 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 ...

  20. 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.

  1. EEG and autonomic arousal measures in schizophrenics.

    Science.gov (United States)

    Joseph, C

    1989-04-01

    EEG and autonomic indices were measured in basal, tonic, and phasic conditions in order to delineate the nature of arousal dysfunction in schizophrenics as compared to normals. The experimental procedure involved six continuous recording sessions consisting of a basal recording before and after four experimental series. Sequentially, these were the visual nonsignal (VNS), the auditory nonsignal (ANS), the visual signal (VS), and the auditory signal (AS) series. The main findings indicated significant differences between the two groups in cardiovascular indices during the basal and tonic conditions and in the EEG and EMG indices of phasic response. These results suggest a dysfunction of basal and tonic autonomic arousal and a modulatory impairement of the central phasic arousal reaction. The findings are in accordance with the two arousal hypothesis postulated by Routtenberg (1968) and disconfirm the unitary concept of arousal for the explanation of psychophysiological abnormality in schizophrenia. PMID:2744968

  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. 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.

  5. 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...

  6. 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...

  7. Smart Systems Integration for Autonomous Wireless Communications

    OpenAIRE

    Danesh, M.

    2012-01-01

    Integration of sensors and wireless transceivers for system networking aims at emerging applications that are highly integrated, self-powered, and low cost, relying on efficient power management schemes to prolong lifetime, thus eliminating the need for batteries as a limited primary source of energy. These applications include: health monitoring and body-area networks, environment and infrastructure monitoring, security, and building automation. Autonomous wireless transmitter sensor nodes t...

  8. Precise laser gyroscope for autonomous inertial navigation

    International Nuclear Information System (INIS)

    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)

  9. 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...

  10. 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...

  11. 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.

  12. Physiology of the Autonomic Nervous System

    OpenAIRE

    McCorry, Laurie Kelly

    2007-01-01

    This manuscript discusses the physiology of the autonomic nervous system (ANS). The following topics are presented: regulation of activity; efferent pathways; sympathetic and parasympathetic divisions; neurotransmitters, their receptors and the termination of their activity; functions of the ANS; and the adrenal medullae. In addition, the application of this material to the practice of pharmacy is of special interest. Two case studies regarding insecticide poisoning and pheochromocytoma are i...

  13. 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

  14. Autonomous Guided Car Using a Fuzzy Controller

    OpenAIRE

    Olivares Mendez, Miguel Angel; Campoy, Pascual; Mellado-Bataller, Ignacio; Mondragon, Ivan; Martinez, Carol; Sanchez-Lopez, Joseluis

    2013-01-01

    The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the visual information of a line painted below the car. In order to implement the control of the vehicle, a Fuzzy Logic controller has been implemented, that has to be robust against curvature changes and velocity changes. The only input information for the controller is th...

  15. 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....

  16. 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.

  17. Designing Bidding Strategies for Autonomous Trading Agents

    OpenAIRE

    He, Minghua

    2004-01-01

    Increasingly many systems are being conceptualised, designed and implemented as marketplaces in which autonomous software entities (agents) trade services. These services can be commodities in e-commerce applications or data and knowledge services in information economies. In such systems, dynamic pricing through some form of negotiation or auction protocol is becoming the norm for many goods and customers. Thus, negotiation capabilities for software agents are a central concern. Specifically...

  18. 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)

  19. 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...

  20. 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...

  1. 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...

  2. 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 ...

  3. 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 ...

  4. An architecture for an autonomous learning robot

    Science.gov (United States)

    Tillotson, Brian

    1988-01-01

    An autonomous learning device must solve the example bounding problem, i.e., it must divide the continuous universe into discrete examples from which to learn. We describe an architecture which incorporates an example bounder for learning. The architecture is implemented in the GPAL program. An example run with a real mobile robot shows that the program learns and uses new causal, qualitative, and quantitative relationships.

  5. Autonomous valve for detection of biopolymer degradation

    OpenAIRE

    Keller, Stephan Urs; Noeth, Nadine-Nicole; Fetz, Stefanie; Grünefeld, Marco; Geschke, Oliver; Boisen, Anja; Haefliger, D.

    2009-01-01

    We present a polymer microvalve that allows the detection of biopolymer degradation without the need of external energy. The valve is based on a polymer container filled with a colored marker solution and closed by a thin lid. This structure is covered by a film of poly(L-lactide) and degradation of the biopolymer triggers the release of the color which is detected visually. The autonomous valve has potential for the fast testing of biopolymer degradation under various environmental condition...

  6. Unemployment in Galician autonomous community (Spain)

    OpenAIRE

    Seoane, Maria Jesus Freire; Cristal, Venancio Salcines; Freire, Maria Jesus Bilbao

    1998-01-01

    An aspect of unquestionable transcendency is the impact of the unemployment in the current society. Most part of the countries in the European continent present as from the decade of the 70's very significant rates of unemployment. The persistence of this characteristic in the occupational market constitutes the most important fact of concern for citizens and governments. The problem of the unemployment becomes much more serious in the case of Spain, and the Galician Autonomous Community is n...

  7. 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...

  8. Towards Robot Scientists for autonomous scientific discovery

    OpenAIRE

    Sparkes, Andrew; Aubrey, Wayne; Byrne, Emma; Clare, Amanda; Khan, Muhammed N; Liakata, Maria; Markham, Magdalena; Rowland, Jem; Soldatova, Larisa N.; Whelan, Kenneth E; Young, Michael; King, Ross D.

    2010-01-01

    We review the main components of autonomous scientific discovery, and how they lead to the concept of a Robot Scientist. This is a system which uses techniques from artificial intelligence to automate all aspects of the scientific discovery process: it generates hypotheses from a computer model of the domain, designs experiments to test these hypotheses, runs the physical experiments using robotic systems, analyses and interprets the resulting data, and repeats the cycle. We describe our two ...

  9. 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...

  10. 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),...

  11. 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...

  12. 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...

  13. 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

  14. 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.

  15. Grid administration: towards an autonomic approach

    International Nuclear Information System (INIS)

    Within the DIRAC framework in the LHCb collaboration, we deployed an autonomous policy system acting as a central status information point for grid elements. Experts working as grid administrators have a broad and very deep knowledge about the underlying system which makes them very precious. We have attempted to formalize this knowledge in an autonomous system able to aggregate information, draw conclusions, validate them, and take actions accordingly. The DIRAC Resource Status System (RSS) is a monitoring and generic policy system that enforces managerial and operational actions automatically. As an example, the status of a grid entity can be evaluated using a number of policies, each making assessments relative to specific monitoring information. Individual results of these policies can be combined to evaluate and propose a global status for the resource. This evaluation goes through a validation step driven by a state machine and an external validation system. Once validated, actions can be triggered accordingly. External monitoring and testing systems such as Nagios or Hammercloud are used by policies for site commission and certification. This shows the flexibility of our system, and of what an autonomous policy system can achieve.

  16. Diagnosing faults in autonomous robot plan execution

    Science.gov (United States)

    Lam, Raymond K.; Doshi, Rajkumar S.; Atkinson, David J.; Lawson, Denise M.

    1989-01-01

    A major requirement for an autonomous robot is the capability to diagnose faults during plan execution in an uncertain environment. Many diagnostic researches concentrate only on hardware failures within an autonomous robot. Taking a different approach, the implementation of a Telerobot Diagnostic System that addresses, in addition to the hardware failures, failures caused by unexpected event changes in the environment or failures due to plan errors, is described. One feature of the system is the utilization of task-plan knowledge and context information to deduce fault symptoms. This forward deduction provides valuable information on past activities and the current expectations of a robotic event, both of which can guide the plan-execution inference process. The inference process adopts a model-based technique to recreate the plan-execution process and to confirm fault-source hypotheses. This technique allows the system to diagnose multiple faults due to either unexpected plan failures or hardware errors. This research initiates a major effort to investigate relationships between hardware faults and plan errors, relationships which were not addressed in the past. The results of this research will provide a clear understanding of how to generate a better task planner for an autonomous robot and how to recover the robot from faults in a critical environment.

  17. 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.

  18. 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.

  19. 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.

  20. 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...

  1. 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...

  2. 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...

  3. 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

  4. 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

  5. Assessing the potential of autonomous submarine gliders for ecosystem monitoring across multiple trophic levels (plankton to cetaceans) and pollutants in shallow shelf seas

    OpenAIRE

    Suberg, Lavinia; Wynn, Russell; van der Kooij, Jeroen; Fernand, Liam; Fielding, Sophie; Guihen, Damien; Gillespie, Douglas; Johnson, Mark,; Gkikopoulo, Kalliopi C.; Allan, Ian J.; Vrana, Branislav; Miller, Peter I.; Smeed, David; Jones, Alice R.

    2014-01-01

    A combination of scientific, economic, technological and policy drivers is behind a recent upsurge in the use of marine autonomous systems (and accompanying miniaturized sensors) for environmental mapping and monitoring. Increased spatial–temporal resolution and coverage of data, at reduced cost, is particularly vital for effective spatial management of highly dynamic and heterogeneous shelf environments. This proof-of-concept study involves integration of a novel combination of sensors onto ...

  6. 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)

  7. 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)...

  8. 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,...

  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. 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...

  11. 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.

  12. 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...

  13. 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...

  14. 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

  15. 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

  16. Marine Microbiology: Facets & Opportunities

    Digital Repository Service at National Institute of Oceanography (India)

    Ramaiah, N.

    mainly to keep themselves alive and when they so do, there may be consequences that are normally beneficial, sometimes deleterious, to the ecosystem they exist in. Dr Chandramohan has compiled many useful aspects of current research trends in Marine... the scarce but relevant literature on iron chelators in marine and terrestrial microbiota in chapter 16. The many uses of siderophores and their substituted derivatives in medicine, agriculture, pharmaceuticals, health-care and cosmetics industries...

  17. Biotechnology of marine fungi

    Digital Repository Service at National Institute of Oceanography (India)

    Damare, S.; Singh, P.; Raghukumar, S.

    are capable of growth under oxygen-deficient conditions while performing anaerobic denitrification, a characteristic that is bound to interest biotechnologists.  *3. Enzymes from marine fungi  Fungi produce a variety of extracellular enzymes... and poplar wood shavings as carbon and nitrogen source (Raghukumar et al. 1999). Yet another marine-derived, white-rot fungus isolated from decaying mangrove wood, designated NIOCC #2a produced enhanced levels of laccase in the presence of several phenolics...

  18. 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...

  19. 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...

  20. 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...

  1. 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...

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

    DEFF Research Database (Denmark)

    Bjørner, Thomas

    concerns about trust, user interactions and legislation, as well as the use of technology when driving on highways. Future studies should use a more substantial theoretical framework and real-life tests for a better understanding of user acceptance of driving automation.......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...

  3. 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 ...

  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. Modelling of a PMSG Wind Turbine with Autonomous Control

    OpenAIRE

    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 ...

  6. 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...

  7. 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...

  8. 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...

  9. 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...

  10. 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?

  11. 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 ...

  12. A cloud-assisted design for autonomous driving

    OpenAIRE

    Suresh Kumar, Swarun; Gollakota, Shyamnath; Katabi, Dina

    2012-01-01

    This paper presents Carcel, a cloud-assisted system for autonomous driving. Carcel enables the cloud to have access to sensor data from autonomous vehicles as well as the roadside infrastructure. The cloud assists autonomous vehicles that use this system to avoid obstacles such as pedestrians and other vehicles that may not be directly detected by sensors on the vehicle. Further, Carcel enables vehicles to plan efficient paths that account for unexpected events such as road-work or accidents....

  13. 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.

  14. 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 ...

  15. 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.

  16. 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...

  17. Developing a Framework for Semi-Autonomous Control

    OpenAIRE

    Ong, Kai Wei; Seet, Gerald; Sim, Siang Kok

    2008-01-01

    In this paper, the development of a framework for semi-autonomous control using the concept of sharing and trading is discussed. This includes the application of this framework in the implementation of a telerobotics system. The purpose of the semi-autonomous control scheme is to facilitate the human and the robot to cope with different aspects of their interactions. By enabling the human to interact with the robot semi-autonomously, the human can decide the most appropriate scheme for perfor...

  18. 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...

  19. Autonomic Conditions in Tinnitus and Implications for Korean Medicine

    OpenAIRE

    Eun Ji Choi; Younghee Yun; Seungyeon Yoo; Kyu Seok Kim; Jeong-Su Park; Inhwa Choi

    2013-01-01

    Tinnitus patients suffer from not only auditory sensations but also physical, mental, and social difficulties. Even though tinnitus is believed to be associated with the autonomic nervous system, changes in autonomic conditions in tinnitus patients are not receiving much research attention. The aims of this study were to investigate the autonomic condition of tinnitus patients and to consider Korean medicine in the treatment of tinnitus with an evidence-based approach. We performed a retrospe...

  20. 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.