Comparison of three filters in asteroid-based autonomous navigation

International Nuclear Information System (INIS)

Cui Wen; Zhu Kai-Jian

2014-01-01

At present, optical autonomous navigation has become a key technology in deep space exploration programs. Recent studies focus on the problem of orbit determination using autonomous navigation, and the choice of filter is one of the main issues. To prepare for a possible exploration mission to Mars, the primary emphasis of this paper is to evaluate the capability of three filters, the extended Kalman filter (EKF), unscented Kalman filter (UKF) and weighted least-squares (WLS) algorithm, which have different initial states during the cruise phase. One initial state is assumed to have high accuracy with the support of ground tracking when autonomous navigation is operating; for the other state, errors are set to be large without this support. In addition, the method of selecting asteroids that can be used for navigation from known lists of asteroids to form a sequence is also presented in this study. The simulation results show that WLS and UKF should be the first choice for optical autonomous navigation during the cruise phase to Mars

Technical note: Coupling infrared gas analysis and cavity ring down spectroscopy for autonomous, high-temporal-resolution measurements of DIC and δ13C-DIC

Science.gov (United States)

Call, Mitchell; Schulz, Kai G.; Carvalho, Matheus C.; Santos, Isaac R.; Maher, Damien T.

2017-03-01

A new approach to autonomously determine concentrations of dissolved inorganic carbon (DIC) and its carbon stable isotope ratio (δ13C-DIC) at high temporal resolution is presented. The simple method requires no customised design. Instead it uses two commercially available instruments currently used in aquatic carbon research. An inorganic carbon analyser utilising non-dispersive infrared detection (NDIR) is coupled to a Cavity Ring-down Spectrometer (CRDS) to determine DIC and δ13C-DIC based on the liberated CO2 from acidified aliquots of water. Using a small sample volume of 2 mL, the precision and accuracy of the new method was comparable to standard isotope ratio mass spectrometry (IRMS) methods. The system achieved a sampling resolution of 16 min, with a DIC precision of ±1.5 to 2 µmol kg-1 and δ13C-DIC precision of ±0.14 ‰ for concentrations spanning 1000 to 3600 µmol kg-1. Accuracy of 0.1 ± 0.06 ‰ for δ13C-DIC based on DIC concentrations ranging from 2000 to 2230 µmol kg-1 was achieved during a laboratory-based algal bloom experiment. The high precision data that can be autonomously obtained by the system should enable complex carbonate system questions to be explored in aquatic sciences using high-temporal-resolution observations.

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

Science.gov (United States)

Krotkov, Eric; Simmons, Reid

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

In-flight Quality and Accuracy of Attitude Measurements from the CHAMP Advanced Stellar Compass

DEFF Research Database (Denmark)

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

2005-01-01

The German geo-observations satellite CHAMP carries highly accurate vector instruments. The orientation of these relative to the inertial reference frame is obtained using star trackers. These advanced stellar compasses (ASC) are fully autonomous units, which provide, in real time, the absolute...... attitude with accuracy in the arc second range. In order to investigate the in-flight accuracy of the ASC, the terminology to characterize noise and biases is introduced. Relative instrument accuracy (RIA) and absolute instrument accuracy (AIA) can in principle be determined in-flight. However problems...

Synchronization of autonomous objects in discrete event simulation

Science.gov (United States)

Rogers, Ralph V.

1990-01-01

Autonomous objects in event-driven discrete event simulation offer the potential to combine the freedom of unrestricted movement and positional accuracy through Euclidean space of time-driven models with the computational efficiency of event-driven simulation. The principal challenge to autonomous object implementation is object synchronization. The concept of a spatial blackboard is offered as a potential methodology for synchronization. The issues facing implementation of a spatial blackboard are outlined and discussed.

TOWARD HIGHLY SECURE AND AUTONOMIC COMPUTING SYSTEMS: A HIERARCHICAL APPROACH

Energy Technology Data Exchange (ETDEWEB)

Lee, Hsien-Hsin S

2010-05-11

The overall objective of this research project is to develop novel architectural techniques as well as system software to achieve a highly secure and intrusion-tolerant computing system. Such system will be autonomous, self-adapting, introspective, with self-healing capability under the circumstances of improper operations, abnormal workloads, and malicious attacks. The scope of this research includes: (1) System-wide, unified introspection techniques for autonomic systems, (2) Secure information-flow microarchitecture, (3) Memory-centric security architecture, (4) Authentication control and its implication to security, (5) Digital right management, (5) Microarchitectural denial-of-service attacks on shared resources. During the period of the project, we developed several architectural techniques and system software for achieving a robust, secure, and reliable computing system toward our goal.

High spatial resolution mapping of water quality and bathymetry with an autonomous underwater vehicle

Science.gov (United States)

Pampalone, Vincenzo; Milici, Barbara

2015-12-01

The drone Ecomapper AUV (Autonomous Underwater Vehicle) is a rare example of highly technological instrument in the environmental coastal monitoring field. The YSI EcoMapper is a one-man deployable, Autonomous Underwater Vehicle (AUV) designed to collect bathymetry and water quality data. The submarine-like vehicle follows a programmed course and employs sensors mounted in the nose to record pertinent information. Once the vehicle has started its mission, it operates independently of the user and utilizes GPS waypoints navigation to complete its programmed course. Throughout the course, the vehicle constantly steers toward the line drawn in the mission planning software (VectorMap), essentially following a more accurate road of coordinates instead of transversing waypoint-to-waypoint. It has been equipped with a Doppler Velocity Log (DVL) to increase its underwater navigation accuracy. Potential EcoMapper applications include baseline environmental mapping in freshwater, estuarine or near-coastal environments, bathymetric mapping, dissolved oxygen studies, event monitoring (algal blooms, storm impacts, low dissolved oxygen), non-point source studies, point-source dispersion mapping, security, search & rescue, inspection, shallow water mapping, thermal dissipation mapping of cooling outfalls, trace-dye studies. The AUV is used in the coastal area of the Augusta Bay (Italy), located in the eastern part of Sicily. Due to the heavy contamination generated by the several chemical and petrochemical industries active in the zone, the harbour was declared a Contaminated Site of National Interest. The ecomapper allows for a simultaneous data collection of water quality and bathymetric data providing a complete environmental mapping system of the Harbour.

Autonomous Navigation of the SSTI/Lewis Spacecraft Using the Global Positioning System (GPS)

Science.gov (United States)

Hart, R. C.; Long, A. C.; Lee, T.

1997-01-01

The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) is pursuing the application of Global Positioning System (GPS) technology to improve the accuracy and economy of spacecraft navigation. High-accuracy autonomous navigation algorithms are being flight qualified in conjunction with GSFC's GPS Attitude Determination Flyer (GADFLY) experiment on the Small Satellite Technology Initiative (SSTI) Lewis spacecraft, which is scheduled for launch in 1997. Preflight performance assessments indicate that these algorithms can provide a real-time total position accuracy of better than 10 meters (1 sigma) and velocity accuracy of better than 0.01 meter per second (1 sigma), with selective availability at typical levels. This accuracy is projected to improve to the 2-meter level if corrections to be provided by the GPS Wide Area Augmentation System (WAAS) are included.

Highly Skilled Autonomous Vehicles

OpenAIRE

Manuel Acosta Reche; Stratis Kanarachos; Mike V Blundell

2017-01-01

Recent research suggests that collision mitigation on low grip surfaces might require autonomous vehicles to execute maneuvers such as drift, trail braking or Scandinavian flick. In order to achieve this it is necessary to perceive the vehicle states and their interaction with the environment, and use this information to determine the chassis limits. A first look at the virtual automotive sensing problem is provided, followed by a description of Rally driving modeling approaches. Finally, a c...

High Bandwidth Communications Links Between Heterogeneous Autonomous Vehicles Using Sensor Network Modeling and Extremum Control Approaches

Science.gov (United States)

2008-12-01

In future network-centric warfare environments, teams of autonomous vehicles will be deployed in a coorperative manner to conduct wide-area...of data back to the command station, autonomous vehicles configured with high bandwidth communication system are positioned between the command

High accuracy FIONA-AFM hybrid imaging

International Nuclear Information System (INIS)

Fronczek, D.N.; Quammen, C.; Wang, H.; Kisker, C.; Superfine, R.; Taylor, R.; Erie, D.A.; Tessmer, I.

2011-01-01

Multi-protein complexes are ubiquitous and play essential roles in many biological mechanisms. Single molecule imaging techniques such as electron microscopy (EM) and atomic force microscopy (AFM) are powerful methods for characterizing the structural properties of multi-protein and multi-protein-DNA complexes. However, a significant limitation to these techniques is the ability to distinguish different proteins from one another. Here, we combine high resolution fluorescence microscopy and AFM (FIONA-AFM) to allow the identification of different proteins in such complexes. Using quantum dots as fiducial markers in addition to fluorescently labeled proteins, we are able to align fluorescence and AFM information to ≥8 nm accuracy. This accuracy is sufficient to identify individual fluorescently labeled proteins in most multi-protein complexes. We investigate the limitations of localization precision and accuracy in fluorescence and AFM images separately and their effects on the overall registration accuracy of FIONA-AFM hybrid images. This combination of the two orthogonal techniques (FIONA and AFM) opens a wide spectrum of possible applications to the study of protein interactions, because AFM can yield high resolution (5-10 nm) information about the conformational properties of multi-protein complexes and the fluorescence can indicate spatial relationships of the proteins in the complexes. -- Research highlights: → Integration of fluorescent signals in AFM topography with high (<10 nm) accuracy. → Investigation of limitations and quantitative analysis of fluorescence-AFM image registration using quantum dots. → Fluorescence center tracking and display as localization probability distributions in AFM topography (FIONA-AFM). → Application of FIONA-AFM to a biological sample containing damaged DNA and the DNA repair proteins UvrA and UvrB conjugated to quantum dots.

High Accuracy Transistor Compact Model Calibrations

Energy Technology Data Exchange (ETDEWEB)

Hembree, Charles E. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Mar, Alan [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Robertson, Perry J. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)

2015-09-01

Typically, transistors are modeled by the application of calibrated nominal and range models. These models consists of differing parameter values that describe the location and the upper and lower limits of a distribution of some transistor characteristic such as current capacity. Correspond- ingly, when using this approach, high degrees of accuracy of the transistor models are not expected since the set of models is a surrogate for a statistical description of the devices. The use of these types of models describes expected performances considering the extremes of process or transistor deviations. In contrast, circuits that have very stringent accuracy requirements require modeling techniques with higher accuracy. Since these accurate models have low error in transistor descriptions, these models can be used to describe part to part variations as well as an accurate description of a single circuit instance. Thus, models that meet these stipulations also enable the calculation of quantifi- cation of margins with respect to a functional threshold and uncertainties in these margins. Given this need, new model high accuracy calibration techniques for bipolar junction transis- tors have been developed and are described in this report.

Autonomous path planning solution for industrial robot manipulator using backpropagation algorithm

Directory of Open Access Journals (Sweden)

PeiJiang Yuan

2015-12-01

Full Text Available Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.

Autonomous Robot Navigation In Public Nature Park

DEFF Research Database (Denmark)

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

2005-01-01

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

Improving BDS Autonomous Orbit Determination Performance Using Onboard Accelerometers

Directory of Open Access Journals (Sweden)

QIAO Jing

2017-05-01

Full Text Available Autonomous orbit determination is a crucial step for GNSS development to improve GNSS vulnerability, integrity, reliability and robustness. The newly launched BeiDou (BD satellites are capable of conducting satellite to satellite tracking (SST, which can be used for autonomous orbit determination. However, using SST data only, the BD satellite system (BDS will have whole constellation rotation in the absence of absolute constraints from ground or other celestial body over time, due to various force perturbations. The perturbations can be categorized into conservative forces and non-conservative forces. The conservative forces, such as the Earth non-spherical perturbations, tidal perturbation, the solar, lunar and other third-body perturbations, can be precisely modeled with latest force models. The non-conservative forces (i.e. Solar Radiation Pressure (SRP, on the other hand, are difficult to be modeled precisely, which are the main factors affecting satellite orbit determination accuracy. In recent years, accelerometers onboard satellites have been used to directly measure the non-conservative forces for gravity recovery and atmosphere study, such as GRACE, CHAMP, and GOCE missions. This study investigates the feasibility to use accelerometers onboard BD satellites to improve BD autonomous orbit determination accuracy and service span. Using simulated BD orbit and SST data, together with the error models of existing space-borne accelerometers, the orbit determination accuracy for BD constellation is evaluated using either SST data only or SST data with accelerometers. An empirical SRP model is used to extract non-conservative forces. The simulation results show that the orbit determination accuracy using SST with accelerometers is significantly better than that with SST data only. Assuming 0.33 m random noises and decimeter level signal transponder system biases in SST data, IGSO and MEO satellites decimeter level orbit accuracy can be

Autonomous learning derived from experimental modeling of physical laws.

Science.gov (United States)

Grabec, Igor

2013-05-01

This article deals with experimental description of physical laws by probability density function of measured data. The Gaussian mixture model specified by representative data and related probabilities is utilized for this purpose. The information cost function of the model is described in terms of information entropy by the sum of the estimation error and redundancy. A new method is proposed for searching the minimum of the cost function. The number of the resulting prototype data depends on the accuracy of measurement. Their adaptation resembles a self-organized, highly non-linear cooperation between neurons in an artificial NN. A prototype datum corresponds to the memorized content, while the related probability corresponds to the excitability of the neuron. The method does not include any free parameters except objectively determined accuracy of the measurement system and is therefore convenient for autonomous execution. Since representative data are generally less numerous than the measured ones, the method is applicable for a rather general and objective compression of overwhelming experimental data in automatic data-acquisition systems. Such compression is demonstrated on analytically determined random noise and measured traffic flow data. The flow over a day is described by a vector of 24 components. The set of 365 vectors measured over one year is compressed by autonomous learning to just 4 representative vectors and related probabilities. These vectors represent the flow in normal working days and weekends or holidays, while the related probabilities correspond to relative frequencies of these days. This example reveals that autonomous learning yields a new basis for interpretation of representative data and the optimal model structure. Copyright © 2012 Elsevier Ltd. All rights reserved.

AggieSat: Autonomous Rendezvous and Docking Technology Demonstrator, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Current autonomous rendezvous and docking (AR&D) capability in low Earth orbit (LEO) is constrained by sensor and effector mass, power, and accuracy limits. To...

Fully autonomous navigation for the NASA cargo transfer vehicle

Science.gov (United States)

Wertz, James R.; Skulsky, E. David

1991-01-01

A great deal of attention has been paid to navigation during the close approach (less than or equal to 1 km) phase of spacecraft rendezvous. However, most spacecraft also require a navigation system which provides the necessary accuracy for placing both satellites within the range of the docking sensors. The Microcosm Autonomous Navigation System (MANS) is an on-board system which uses Earth-referenced attitude sensing hardware to provide precision orbit and attitude determination. The system is capable of functioning from LEO to GEO and beyond. Performance depends on the number of available sensors as well as mission geometry; however, extensive simulations have shown that MANS will provide 100 m to 400 m (3(sigma)) position accuracy and 0.03 to 0.07 deg (3(sigma)) attitude accuracy in low Earth orbit. The system is independent of any external source, including GPS. MANS is expected to have a significant impact on ground operations costs, mission definition and design, survivability, and the potential development of very low-cost, fully autonomous spacecraft.

A Collaborative Knowledge Plane for Autonomic Networks

Science.gov (United States)

Mbaye, Maïssa; Krief, Francine

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

The use of low density high accuracy (LDHA) data for correction of high density low accuracy (HDLA) point cloud

Science.gov (United States)

Rak, Michal Bartosz; Wozniak, Adam; Mayer, J. R. R.

2016-06-01

Coordinate measuring techniques rely on computer processing of coordinate values of points gathered from physical surfaces using contact or non-contact methods. Contact measurements are characterized by low density and high accuracy. On the other hand optical methods gather high density data of the whole object in a short time but with accuracy at least one order of magnitude lower than for contact measurements. Thus the drawback of contact methods is low density of data, while for non-contact methods it is low accuracy. In this paper a method for fusion of data from two measurements of fundamentally different nature: high density low accuracy (HDLA) and low density high accuracy (LDHA) is presented to overcome the limitations of both measuring methods. In the proposed method the concept of virtual markers is used to find a representation of pairs of corresponding characteristic points in both sets of data. In each pair the coordinates of the point from contact measurements is treated as a reference for the corresponding point from non-contact measurement. Transformation enabling displacement of characteristic points from optical measurement to their match from contact measurements is determined and applied to the whole point cloud. The efficiency of the proposed algorithm was evaluated by comparison with data from a coordinate measuring machine (CMM). Three surfaces were used for this evaluation: plane, turbine blade and engine cover. For the planar surface the achieved improvement was of around 200 μm. Similar results were obtained for the turbine blade but for the engine cover the improvement was smaller. For both freeform surfaces the improvement was higher for raw data than for data after creation of mesh of triangles.

Accessing Autonomic Function Can Early Screen Metabolic Syndrome

Science.gov (United States)

Dai, Meng; Li, Mian; Yang, Zhi; Xu, Min; Xu, Yu; Lu, Jieli; Chen, Yuhong; Liu, Jianmin; Ning, Guang; Bi, Yufang

2012-01-01

Background Clinical diagnosis of the metabolic syndrome is time-consuming and invasive. Convenient instruments that do not require laboratory or physical investigation would be useful in early screening individuals at high risk of metabolic syndrome. Examination of the autonomic function can be taken as a directly reference and screening indicator for predicting metabolic syndrome. Methodology and Principal Findings The EZSCAN test, as an efficient and noninvasive technology, can access autonomic function through measuring electrochemical skin conductance. In this study, we used EZSCAN value to evaluate autonomic function and to detect metabolic syndrome in 5,887 participants aged 40 years or older. The EZSCAN test diagnostic accuracy was analyzed by receiver operating characteristic curves. Among the 5,815 participants in the final analysis, 2,541 were diagnosed as metabolic syndrome and the overall prevalence was 43.7%. Prevalence of the metabolic syndrome increased with the elevated EZSCAN risk level (p for trend metabolic syndrome components (p for trend metabolic syndrome after the multiple adjustments. The area under the curve of the EZSCAN test was 0.62 (95% confidence interval [CI], 0.61–0.64) for predicting metabolic syndrome. The optimal operating point for the EZSCAN value to detect a high risk of prevalent metabolic syndrome was 30 in this study, while the sensitivity and specificity were 71.2% and 46.7%, respectively. Conclusions and Significance In conclusion, although less sensitive and accurate when compared with the clinical definition of metabolic syndrome, we found that the EZSCAN test is a good and simple screening technique for early predicting metabolic syndrome. PMID:22916265

Diagnostic accuracy of high-definition CT coronary angiography in high-risk patients

International Nuclear Information System (INIS)

Iyengar, S.S.; Morgan-Hughes, G.; Ukoumunne, O.; Clayton, B.; Davies, E.J.; Nikolaou, V.; Hyde, C.J.; Shore, A.C.; Roobottom, C.A.

2016-01-01

Aim: To assess the diagnostic accuracy of computed tomography coronary angiography (CTCA) using a combination of high-definition CT (HD-CTCA) and high level of reader experience, with invasive coronary angiography (ICA) as the reference standard, in high-risk patients for the investigation of coronary artery disease (CAD). Materials and methods: Three hundred high-risk patients underwent HD-CTCA and ICA. Independent experts evaluated the images for the presence of significant CAD, defined primarily as the presence of moderate (≥50%) stenosis and secondarily as the presence of severe (≥70%) stenosis in at least one coronary segment, in a blinded fashion. HD-CTCA was compared to ICA as the reference standard. Results: No patients were excluded. Two hundred and six patients (69%) had moderate and 178 (59%) had severe stenosis in at least one vessel at ICA. The sensitivity, specificity, positive predictive value, and negative predictive value were 97.1%, 97.9%, 99% and 93.9% for moderate stenosis, and 98.9%, 93.4%, 95.7% and 98.3%, for severe stenosis, on a per-patient basis. Conclusion: The combination of HD-CTCA and experienced readers applied to a high-risk population, results in high diagnostic accuracy comparable to ICA. Modern generation CT systems in experienced hands might be considered for an expanded role. - Highlights: • Diagnostic accuracy of High-Definition CT Angiography (HD-CTCA) has been assessed. • Invasive Coronary angiography (ICA) is the reference standard. • Diagnostic accuracy of HD-CTCA is comparable to ICA. • Diagnostic accuracy is not affected by coronary calcium or stents. • HD-CTCA provides a non-invasive alternative in high-risk patients.

A highly stretchable autonomous self-healing elastomer

Science.gov (United States)

Li, Cheng-Hui; Wang, Chao; Keplinger, Christoph; Zuo, Jing-Lin; Jin, Lihua; Sun, Yang; Zheng, Peng; Cao, Yi; Lissel, Franziska; Linder, Christian; You, Xiao-Zeng; Bao, Zhenan

2016-06-01

It is a challenge to synthesize materials that possess the properties of biological muscles—strong, elastic and capable of self-healing. Herein we report a network of poly(dimethylsiloxane) polymer chains crosslinked by coordination complexes that combines high stretchability, high dielectric strength, autonomous self-healing and mechanical actuation. The healing process can take place at a temperature as low as -20 °C and is not significantly affected by surface ageing and moisture. The crosslinking complexes used consist of 2,6-pyridinedicarboxamide ligands that coordinate to Fe(III) centres through three different interactions: a strong pyridyl-iron one, and two weaker carboxamido-iron ones through both the nitrogen and oxygen atoms of the carboxamide groups. As a result, the iron-ligand bonds can readily break and re-form while the iron centres still remain attached to the ligands through the stronger interaction with the pyridyl ring, which enables reversible unfolding and refolding of the chains. We hypothesize that this behaviour supports the high stretchability and self-healing capability of the material.

Systematic Calibration for Ultra-High Accuracy Inertial Measurement Units

Directory of Open Access Journals (Sweden)

Qingzhong Cai

2016-06-01

Full Text Available An inertial navigation system (INS has been widely used in challenging GPS environments. With the rapid development of modern physics, an atomic gyroscope will come into use in the near future with a predicted accuracy of 5 × 10−6°/h or better. However, existing calibration methods and devices can not satisfy the accuracy requirements of future ultra-high accuracy inertial sensors. In this paper, an improved calibration model is established by introducing gyro g-sensitivity errors, accelerometer cross-coupling errors and lever arm errors. A systematic calibration method is proposed based on a 51-state Kalman filter and smoother. Simulation results show that the proposed calibration method can realize the estimation of all the parameters using a common dual-axis turntable. Laboratory and sailing tests prove that the position accuracy in a five-day inertial navigation can be improved about 8% by the proposed calibration method. The accuracy can be improved at least 20% when the position accuracy of the atomic gyro INS can reach a level of 0.1 nautical miles/5 d. Compared with the existing calibration methods, the proposed method, with more error sources and high order small error parameters calibrated for ultra-high accuracy inertial measurement units (IMUs using common turntables, has a great application potential in future atomic gyro INSs.

Accessing autonomic function can early screen metabolic syndrome.

Directory of Open Access Journals (Sweden)

Kan Sun

Full Text Available BACKGROUND: Clinical diagnosis of the metabolic syndrome is time-consuming and invasive. Convenient instruments that do not require laboratory or physical investigation would be useful in early screening individuals at high risk of metabolic syndrome. Examination of the autonomic function can be taken as a directly reference and screening indicator for predicting metabolic syndrome. METHODOLOGY AND PRINCIPAL FINDINGS: The EZSCAN test, as an efficient and noninvasive technology, can access autonomic function through measuring electrochemical skin conductance. In this study, we used EZSCAN value to evaluate autonomic function and to detect metabolic syndrome in 5,887 participants aged 40 years or older. The EZSCAN test diagnostic accuracy was analyzed by receiver operating characteristic curves. Among the 5,815 participants in the final analysis, 2,541 were diagnosed as metabolic syndrome and the overall prevalence was 43.7%. Prevalence of the metabolic syndrome increased with the elevated EZSCAN risk level (p for trend <0.0001. Moreover, EZSCAN value was associated with an increase in the number of metabolic syndrome components (p for trend <0.0001. Compared with the no risk group (EZSCAN value 0-24, participants at the high risk group (EZSCAN value: 50-100 had a 2.35 fold increased risk of prevalent metabolic syndrome after the multiple adjustments. The area under the curve of the EZSCAN test was 0.62 (95% confidence interval [CI], 0.61-0.64 for predicting metabolic syndrome. The optimal operating point for the EZSCAN value to detect a high risk of prevalent metabolic syndrome was 30 in this study, while the sensitivity and specificity were 71.2% and 46.7%, respectively. CONCLUSIONS AND SIGNIFICANCE: In conclusion, although less sensitive and accurate when compared with the clinical definition of metabolic syndrome, we found that the EZSCAN test is a good and simple screening technique for early predicting metabolic syndrome.

Onboard Autonomous Corrections for Accurate IRF Pointing.

Science.gov (United States)

Jorgensen, J. L.; Betto, M.; Denver, T.

2002-05-01

Over the past decade, the Noise Equivalent Angle (NEA) of onboard attitude reference instruments, has decreased from tens-of-arcseconds to the sub-arcsecond level. This improved performance is partly due to improved sensor-technology with enhanced signal to noise ratios, partly due to improved processing electronics which allows for more sophisticated and faster signal processing. However, the main reason for the increased precision, is the application of onboard autonomy, which apart from simple outlier rejection also allows for removal of "false positive" answers, and other "unexpected" noise sources, that otherwise would degrade the quality of the measurements (e.g. discrimination between signals caused by starlight and ionizing radiation). The utilization of autonomous signal processing has also provided the means for another onboard processing step, namely the autonomous recovery from lost in space, where the attitude instrument without a priori knowledge derive the absolute attitude, i.e. in IRF coordinates, within fractions of a second. Combined with precise orbital state or position data, the absolute attitude information opens for multiple ways to improve the mission performance, either by reducing operations costs, by increasing pointing accuracy, by reducing mission expendables, or by providing backup decision information in case of anomalies. The Advanced Stellar Compass's (ASC) is a miniature, high accuracy, attitude instrument which features fully autonomous operations. The autonomy encompass all direct steps from automatic health checkout at power-on, over fully automatic SEU and SEL handling and proton induced sparkle removal, to recovery from "lost in space", and optical disturbance detection and handling. But apart from these more obvious autonomy functions, the ASC also features functions to handle and remove the aforementioned residuals. These functions encompass diverse operators such as a full orbital state vector model with automatic cloud

Design Comparison of Autonomous High Voltage Driving System for DEAP Actuator

DEFF Research Database (Denmark)

Huang, Lina; Pittini, Riccardo; Zhang, Zhe

2014-01-01

As a new type of smart material, the Dielectric Electro Active Polymer (DEAP) is introduced in terms of configuration, working principle and potential applications. The design of an autonomous high voltage driving system for DEAP actuator is investigated. The system configuration and the design...... methodology of a high voltage converter are discussed in detail. Based on the heating valve application, three different high voltage converter solutions have been proposed. The different proposals have been compared in terms of energy loss, volume and cost. Finally, the design selection suggestions...

Failure Prediction for Autonomous Driving

OpenAIRE

Hecker, Simon; Dai, Dengxin; Van Gool, Luc

2018-01-01

The primary focus of autonomous driving research is to improve driving accuracy. While great progress has been made, state-of-the-art algorithms still fail at times. Such failures may have catastrophic consequences. It therefore is important that automated cars foresee problems ahead as early as possible. This is also of paramount importance if the driver will be asked to take over. We conjecture that failures do not occur randomly. For instance, driving models may fail more likely at places ...

Modern Estimation Techniques and Optimal Maneuver Targeting for Autonomous Optical Navigation around Small Bodies

Data.gov (United States)

National Aeronautics and Space Administration — Autonomous Optical Navigation (AON) allows for significant advances in spacecraft navigation accuracy around small bodies located far from Earth, such as asteroids...

Intent-Estimation- and Motion-Model-Based Collision Avoidance Method for Autonomous Vehicles in Urban Environments

Directory of Open Access Journals (Sweden)

Rulin Huang

2017-04-01

Full Text Available Existing collision avoidance methods for autonomous vehicles, which ignore the driving intent of detected vehicles, thus, cannot satisfy the requirements for autonomous driving in urban environments because of their high false detection rates of collisions with vehicles on winding roads and the missed detection rate of collisions with maneuvering vehicles. This study introduces an intent-estimation- and motion-model-based (IEMMB method to address these disadvantages. First, a state vector is constructed by combining the road structure and the moving state of detected vehicles. A Gaussian mixture model is used to learn the maneuvering patterns of vehicles from collected data, and the patterns are used to estimate the driving intent of the detected vehicles. Then, a desirable long-term trajectory is obtained by weighting time and comfort. The long-term trajectory and the short-term trajectory, which are predicted using a constant yaw rate motion model, are fused to achieve an accurate trajectory. Finally, considering the moving state of the autonomous vehicle, collisions can be detected and avoided. Experiments have shown that the intent estimation method performed well, achieving an accuracy of 91.7% on straight roads and an accuracy of 90.5% on winding roads, which is much higher than that achieved by the method that ignores the road structure. The average collision detection distance is increased by more than 8 m. In addition, the maximum yaw rate and acceleration during an evasive maneuver are decreased, indicating an improvement in the driving comfort.

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.

Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

Science.gov (United States)

Regalado Reyes, Bjorn Constant

2015-01-01

1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

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.

High psychosis liability is associated with altered autonomic balance during exposure to Virtual Reality social stressors.

Science.gov (United States)

Counotte, Jacqueline; Pot-Kolder, Roos; van Roon, Arie M; Hoskam, Olivier; van der Gaag, Mark; Veling, Wim

2017-06-01

Social stressors are associated with an increased risk of psychosis. Stress sensitisation is thought to be an underlying mechanism and may be reflected in an altered autonomic stress response. Using an experimental Virtual Reality design, the autonomic stress response to social stressors was examined in participants with different liability to psychosis. Fifty-five patients with recent onset psychotic disorder, 20 patients at ultra-high risk for psychosis, 42 siblings of patients with psychosis and 53 controls were exposed to social stressors (crowdedness, ethnic minority status and hostility) in a Virtual Reality environment. Heart rate variability parameters and skin conductance levels were measured at baseline and during Virtual Reality experiments. High psychosis liability groups had significantly increased heart rate and decreased heart rate variability compared to low liability groups both at baseline and during Virtual Reality experiments. Both low frequency (LF) and high frequency (HF) power were reduced, while the LF/HF ratio was similar between groups. The number of virtual social stressors significantly affected heart rate, HF, LF/HF and skin conductance level. There was no interaction between psychosis liability and amount of virtual social stress. High liability to psychosis is associated with decreased parasympathetic activity in virtual social environments, which reflects generally high levels of arousal, rather than increased autonomic reactivity to social stressors. Copyright © 2016 Elsevier B.V. All rights reserved.

Evaluation of the use of low-cost GPS receivers in the autonomous guidance of agricultural tractors

Energy Technology Data Exchange (ETDEWEB)

Alonso-Garcia, S.; Gomez-Gil, J.; Arribas, J. I.

2011-07-01

This paper evaluates the use of low-cost global positioning system (GPS) receivers in the autonomous guidance of agricultural tractors. An autonomous guidance system was installed in a 6400 John Deere agricultural tractor. A low cost GPS receiver was used as positioning sensor. Three different control laws were implemented in order to evaluate the autonomous guidance of the tractor with the low-cost receiver. The guidance was experimentally tested with the tracking of straight trajectories and with the step response. The total guidance error was obtained from the receiver accuracy and from the guidance error. For the evaluation of the receivers accuracy, positioning data from several low cost receivers were recorded and analyzed. For the evaluation of the guidance error, tests were performed with each control law at three different speeds. The conclusions obtained were that relative accuracy of low-cost receivers decreases with the time; that for an interval lower than 15 min, the error usually remains below 1 m; that all the control laws have a similar behavior and it is conditioned by the control law adjustment; that automatic guidance with low cost receivers is possible with speeds that went up to 9 km h{sup -}1; and finally, that the total error in the guidance is mainly determined by the receivers accuracy. (Author) 46 refs.

Development of autonomous controller system of high speed UAV from simulation to ready to fly condition

Science.gov (United States)

Yudhi Irwanto, Herma

2018-02-01

The development of autonomous controller system that is specially used in our high speed UAV, it’s call RKX-200EDF/TJ controlled vehicle needs to be continued as a step to mastery and to developt control system of LAPAN’s satellite launching rocket. The weakness of the existing control system in this high speed UAV needs to be repaired and replaced using the autonomous controller system. Conversion steps for ready-to-fly system involved controlling X tail fin, adjusting auto take off procedure by adding X axis sensor, procedure of way points reading and process of measuring distance and heading to the nearest way point, developing user-friendly ground station, and adding tools for safety landing. The development of this autonomous controller system also covered a real flying test in Pandanwangi, Lumajang in November 2016. Unfortunately, the flying test was not successful because the booster rocket was blown right after burning. However, the system could record the event and demonstrated that the controller system had worked according to plan.

An autonomic approach to configure HEP (High Energy Physics) experiments, applied to LHCb (Large Hadron Collider beauty)

CERN Document Server

Abadie, L; Charpentier, P

2006-01-01

Properly configuring an HEP (High Energy Phys ics) experiment becomes a more and more complex task as the number of electronics modules grows and technologies evolve quickly. Anticipating a fault in the software or in the hardware during the configuration or the data taking requires an adaptive and modular control system. The introduction of autonomic tools and data bases in the HEP world is quite recent and contributes to implement a more reliable system . The LHCb control system innovates as it has been built using autonomic tools. The main contribution of this PhD is the implementation of an autonomic 3-Tier architectur e to configure the LHCb experiment which is a huge network of devices of different types, and its integrat ion in the control system. This new type of autonomics architecture consists of: • A database layer. A relational Oracle databa se implemented using the Oracle technology contains the information...

Evaluation of Small Unmanned Aircraft Flight Trajectory Accuracy

Directory of Open Access Journals (Sweden)

Ramūnas Kikutis

2014-12-01

Full Text Available Today small unmanned aircraft are being more widely adapted for practical tasks. These tasks require high reliability and flight path accuracy. For such aircraft we have to deal with the chalenge how to compensate external factors and how to ensure the accuracy of the flight trajectory according to new regulations and standards. In this paper, new regulations for the flights of small unmanned aircraft in Lithuanian air space are discussed. Main factors, which affect errors of the autonomous flight path tracking, are discussed too. The emphasis is on the wind factor and the flight path of Dubbin’s trajectories. Research was performed with mathematical-dynamic model of UAV and it was compared with theoretical calculations. All calculations and experiments were accomplished for the circular part of Dubbin’s paths when the airplane was trimmed for circular trajectory flight in calm conditions. Further, for such flight the wind influence was analysed.

Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot.

Science.gov (United States)

Khoiy, Keyvan Amini; Mirbagheri, Alireza; Farahmand, Farzam

2016-01-01

An automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery. The procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in laparoscopic images. A compound measure of Saturation and Value components of HSV color space was incorporated that was enhanced further using the Hue component and some essential characteristics of the instrument segment, e.g., crossing the image boundaries. The procedure was then integrated into the controlling system of the RoboLens cameraman robot, within a triple-thread parallel processing scheme, such that the tip is always kept at the center of the image. Assessment of the performance of the system on prerecorded real surgery movies revealed an accuracy rate of 97% for high quality images and about 80% for those suffering from poor lighting and/or blood, water and smoke noises. A reasonably satisfying performance was also observed when employing the system for autonomous control of the robot in a laparoscopic surgery phantom, with a mean time delay of 200ms. It was concluded that with further developments, the proposed procedure can provide a practical solution for autonomous control of cameraman robots during laparoscopic surgery operations.

Research on Horizontal Accuracy Method of High Spatial Resolution Remotely Sensed Orthophoto Image

Science.gov (United States)

Xu, Y. M.; Zhang, J. X.; Yu, F.; Dong, S.

2018-04-01

At present, in the inspection and acceptance of high spatial resolution remotly sensed orthophoto image, the horizontal accuracy detection is testing and evaluating the accuracy of images, which mostly based on a set of testing points with the same accuracy and reliability. However, it is difficult to get a set of testing points with the same accuracy and reliability in the areas where the field measurement is difficult and the reference data with high accuracy is not enough. So it is difficult to test and evaluate the horizontal accuracy of the orthophoto image. The uncertainty of the horizontal accuracy has become a bottleneck for the application of satellite borne high-resolution remote sensing image and the scope of service expansion. Therefore, this paper proposes a new method to test the horizontal accuracy of orthophoto image. This method using the testing points with different accuracy and reliability. These points' source is high accuracy reference data and field measurement. The new method solves the horizontal accuracy detection of the orthophoto image in the difficult areas and provides the basis for providing reliable orthophoto images to the users.

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

Directory of Open Access Journals (Sweden)

Tianhong Yan

2011-11-01

Full Text Available 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 irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

Science.gov (United States)

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

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 irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

A Secure, Scalable and Elastic Autonomic Computing Systems Paradigm: Supporting Dynamic Adaptation of Self-* Services from an Autonomic Cloud

Directory of Open Access Journals (Sweden)

Abdul Jaleel

2018-05-01

Full Text Available Autonomic computing embeds self-management features in software systems using external feedback control loops, i.e., autonomic managers. In existing models of autonomic computing, adaptive behaviors are defined at the design time, autonomic managers are statically configured, and the running system has a fixed set of self-* capabilities. An autonomic computing design should accommodate autonomic capability growth by allowing the dynamic configuration of self-* services, but this causes security and integrity issues. A secure, scalable and elastic autonomic computing system (SSE-ACS paradigm is proposed to address the runtime inclusion of autonomic managers, ensuring secure communication between autonomic managers and managed resources. Applying the SSE-ACS concept, a layered approach for the dynamic adaptation of self-* services is presented with an online ‘Autonomic_Cloud’ working as the middleware between Autonomic Managers (offering the self-* services and Autonomic Computing System (requiring the self-* services. A stock trading and forecasting system is used for simulation purposes. The security impact of the SSE-ACS paradigm is verified by testing possible attack cases over the autonomic computing system with single and multiple autonomic managers running on the same and different machines. The common vulnerability scoring system (CVSS metric shows a decrease in the vulnerability severity score from high (8.8 for existing ACS to low (3.9 for SSE-ACS. Autonomic managers are introduced into the system at runtime from the Autonomic_Cloud to test the scalability and elasticity. With elastic AMs, the system optimizes the Central Processing Unit (CPU share resulting in an improved execution time for business logic. For computing systems requiring the continuous support of self-management services, the proposed system achieves a significant improvement in security, scalability, elasticity, autonomic efficiency, and issue resolving time

Integrated vision-based GNC for autonomous rendezvous and capture around Mars

Science.gov (United States)

Strippoli, L.; Novelli, G.; Gil Fernandez, J.; Colmenarejo, P.; Le Peuvedic, C.; Lanza, P.; Ankersen, F.

2015-06-01

Integrated GNC (iGNC) is an activity aimed at designing, developing and validating the GNC for autonomously performing the rendezvous and capture phase of the Mars sample return mission as defined during the Mars sample return Orbiter (MSRO) ESA study. The validation cycle includes testing in an end-to-end simulator, in a real-time avionics-representative test bench and, finally, in a dynamic HW in the loop test bench for assessing the feasibility, performances and figure of merits of the baseline approach defined during the MSRO study, for both nominal and contingency scenarios. The on-board software (OBSW) is tailored to work with the sensors, actuators and orbits baseline proposed in MSRO. The whole rendezvous is based on optical navigation, aided by RF-Doppler during the search and first orbit determination of the orbiting sample. The simulated rendezvous phase includes also the non-linear orbit synchronization, based on a dedicated non-linear guidance algorithm robust to Mars ascent vehicle (MAV) injection accuracy or MAV failures resulting in elliptic target orbits. The search phase is very demanding for the image processing (IP) due to the very high visual magnitude of the target wrt. the stellar background, and the attitude GNC requires very high pointing stability accuracies to fulfil IP constraints. A trade-off of innovative, autonomous navigation filters indicates the unscented Kalman filter (UKF) as the approach that provides the best results in terms of robustness, response to non-linearities and performances compatibly with computational load. At short range, an optimized IP based on a convex hull algorithm has been developed in order to guarantee LoS and range measurements from hundreds of metres to capture.

High accuracy 3-D laser radar

DEFF Research Database (Denmark)

Busck, Jens; Heiselberg, Henning

2004-01-01

We have developed a mono-static staring 3-D laser radar based on gated viewing with range accuracy below 1 m at 10 m and 1 cm at 100. We use a high sensitivity, fast, intensified CCD camera, and a Nd:Yag passively Q-switched 32.4 kHz pulsed green laser at 532 nm. The CCD has 752x582 pixels. Camera...

An autonomous robot for de-leafing cucumber plants in a high-wire cultivation system

NARCIS (Netherlands)

Henten, van E.J.; Tuijl, van B.A.J.; Hoogakker, G.J.; Weerd, van der M.J.; Hemming, J.; Kornet, J.G.; Bontsema, J.

2005-01-01

The paper presents an autonomous robot for removing the leaves from cucumber plants grown in a high-wire cultivation system. Leaves at the lower end of the plants are removed because of their reduced vitality, their negligible contribution to canopy photosynthesis and their increased sensitivity for

Data analysis-based autonomic bandwidth adjustment in software defined multi-vendor optical transport networks.

Science.gov (United States)

Li, Yajie; Zhao, Yongli; Zhang, Jie; Yu, Xiaosong; Jing, Ruiquan

2017-11-27

Network operators generally provide dedicated lightpaths for customers to meet the demand for high-quality transmission. Considering the variation of traffic load, customers usually rent peak bandwidth that exceeds the practical average traffic requirement. In this case, bandwidth provisioning is unmetered and customers have to pay according to peak bandwidth. Supposing that network operators could keep track of traffic load and allocate bandwidth dynamically, bandwidth can be provided as a metered service and customers would pay for the bandwidth that they actually use. To achieve cost-effective bandwidth provisioning, this paper proposes an autonomic bandwidth adjustment scheme based on data analysis of traffic load. The scheme is implemented in a software defined networking (SDN) controller and is demonstrated in the field trial of multi-vendor optical transport networks. The field trial shows that the proposed scheme can track traffic load and realize autonomic bandwidth adjustment. In addition, a simulation experiment is conducted to evaluate the performance of the proposed scheme. We also investigate the impact of different parameters on autonomic bandwidth adjustment. Simulation results show that the step size and adjustment period have significant influences on bandwidth savings and packet loss. A small value of step size and adjustment period can bring more benefits by tracking traffic variation with high accuracy. For network operators, the scheme can serve as technical support of realizing bandwidth as metered service in the future.

Efficient ConvNet Feature Extraction with Multiple RoI Pooling for Landmark-Based Visual Localization of Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Yi Hou

2017-01-01

Full Text Available Efficient and robust visual localization is important for autonomous vehicles. By achieving impressive localization accuracy under conditions of significant changes, ConvNet landmark-based approach has attracted the attention of people in several research communities including autonomous vehicles. Such an approach relies heavily on the outstanding discrimination power of ConvNet features to match detected landmarks between images. However, a major challenge of this approach is how to extract discriminative ConvNet features efficiently. To address this challenging, inspired by the high efficiency of the region of interest (RoI pooling layer, we propose a Multiple RoI (MRoI pooling technique, an enhancement of RoI, and a simple yet efficient ConvNet feature extraction method. Our idea is to leverage MRoI pooling to exploit multilevel and multiresolution information from multiple convolutional layers and then fuse them to improve the discrimination capacity of the final ConvNet features. The main advantages of our method are (a high computational efficiency for real-time applications; (b GPU memory efficiency for mobile applications; and (c use of pretrained model without fine-tuning or retraining for easy implementation. Experimental results on four datasets have demonstrated not only the above advantages but also the high discriminating power of the extracted ConvNet features with state-of-the-art localization accuracy.

High accuracy wavelength calibration for a scanning visible spectrometer

Energy Technology Data Exchange (ETDEWEB)

Scotti, Filippo; Bell, Ronald E. [Princeton Plasma Physics Laboratory, Princeton, New Jersey 08543 (United States)

2010-10-15

Spectroscopic applications for plasma velocity measurements often require wavelength accuracies {<=}0.2 A. An automated calibration, which is stable over time and environmental conditions without the need to recalibrate after each grating movement, was developed for a scanning spectrometer to achieve high wavelength accuracy over the visible spectrum. This method fits all relevant spectrometer parameters using multiple calibration spectra. With a stepping-motor controlled sine drive, an accuracy of {approx}0.25 A has been demonstrated. With the addition of a high resolution (0.075 arc sec) optical encoder on the grating stage, greater precision ({approx}0.005 A) is possible, allowing absolute velocity measurements within {approx}0.3 km/s. This level of precision requires monitoring of atmospheric temperature and pressure and of grating bulk temperature to correct for changes in the refractive index of air and the groove density, respectively.

Switched-capacitor techniques for high-accuracy filter and ADC design

NARCIS (Netherlands)

Quinn, P.J.; Roermund, van A.H.M.

2007-01-01

Switched capacitor (SC) techniques are well proven to be excellent candidates for implementing critical analogue functions with high accuracy, surpassing other analogue techniques when embedded in mixed-signal CMOS VLSI. Conventional SC circuits are primarily limited in accuracy by a) capacitor

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.

High-accuracy mass spectrometry for fundamental studies.

Science.gov (United States)

Kluge, H-Jürgen

2010-01-01

Mass spectrometry for fundamental studies in metrology and atomic, nuclear and particle physics requires extreme sensitivity and efficiency as well as ultimate resolving power and accuracy. An overview will be given on the global status of high-accuracy mass spectrometry for fundamental physics and metrology. Three quite different examples of modern mass spectrometric experiments in physics are presented: (i) the retardation spectrometer KATRIN at the Forschungszentrum Karlsruhe, employing electrostatic filtering in combination with magnetic-adiabatic collimation-the biggest mass spectrometer for determining the smallest mass, i.e. the mass of the electron anti-neutrino, (ii) the Experimental Cooler-Storage Ring at GSI-a mass spectrometer of medium size, relative to other accelerators, for determining medium-heavy masses and (iii) the Penning trap facility, SHIPTRAP, at GSI-the smallest mass spectrometer for determining the heaviest masses, those of super-heavy elements. Finally, a short view into the future will address the GSI project HITRAP at GSI for fundamental studies with highly-charged ions.

Accuracy Assessment for the Three-Dimensional Coordinates by High-Speed Videogrammetric Measurement

Directory of Open Access Journals (Sweden)

Xianglei Liu

2018-01-01

Full Text Available High-speed CMOS camera is a new kind of transducer to make the videogrammetric measurement for monitoring the displacement of high-speed shaking table structure. The purpose of this paper is to validate the three-dimensional coordinate accuracy of the shaking table structure acquired from the presented high-speed videogrammetric measuring system. In the paper, all of the key intermediate links are discussed, including the high-speed CMOS videogrammetric measurement system, the layout of the control network, the elliptical target detection, and the accuracy validation of final 3D spatial results. Through the accuracy analysis, the submillimeter accuracy can be made for the final the three-dimensional spatial coordinates which certify that the proposed high-speed videogrammetric technique is a better alternative technique which can replace the traditional transducer technique for monitoring the dynamic response for the shaking table structure.

Autonomic headache with autonomic seizures: a case report.

Science.gov (United States)

Ozge, Aynur; Kaleagasi, Hakan; Yalçin Tasmertek, Fazilet

2006-10-01

The aim of the report is to present a case of an autonomic headache associated with autonomic seizures. A 19-year-old male who had had complex partial seizures for 15 years was admitted with autonomic complaints and left hemicranial headache, independent from seizures, that he had had for 2 years and were provoked by watching television. Brain magnetic resonance imaging showed right hippocampal sclerosis and electroencephalography revealed epileptic activity in right hemispheric areas. Treatment with valproic acid decreased the complaints. The headache did not fulfil the criteria for the diagnosis of trigeminal autonomic cephalalgias, and was different from epileptic headache, which was defined as a pressing type pain felt over the forehead for several minutes to a few hours. Although epileptic headache responds to anti-epileptics and the complaints of the present case decreased with antiepileptics, it has been suggested that the headache could be a non-trigeminal autonomic headache instead of an epileptic headache.

High-precision GPS autonomous platforms for sea ice dynamics and physical oceanography

Science.gov (United States)

Elosegui, P.; Wilkinson, J.; Olsson, M.; Rodwell, S.; James, A.; Hagan, B.; Hwang, B.; Forsberg, R.; Gerdes, R.; Johannessen, J.; Wadhams, P.; Nettles, M.; Padman, L.

2012-12-01

Project "Arctic Ocean sea ice and ocean circulation using satellite methods" (SATICE), is the first high-rate, high-precision, continuous GPS positioning experiment on sea ice in the Arctic Ocean. The SATICE systems collect continuous, dual-frequency carrier-phase GPS data while drifting on sea ice. Additional geophysical measurements also collected include ocean water pressure, ocean surface salinity, atmospheric pressure, snow-depth, air-ice-ocean temperature profiles, photographic imagery, and others, enabling sea ice drift, freeboard, weather, ice mass balance, and sea-level height determination. Relatively large volumes of data from each buoy are streamed over a satellite link to a central computer on the Internet in near real time, where they are processed to estimate the time-varying buoy positions. SATICE system obtains continuous GPS data at sub-minute intervals with a positioning precision of a few centimetres in all three dimensions. Although monitoring of sea ice motions goes back to the early days of satellite observations, these autonomous platforms bring out a level of spatio-temporal detail that has never been seen before, especially in the vertical axis. These high-resolution data allows us to address new polar science questions and challenge our present understanding of both sea ice dynamics and Arctic oceanography. We will describe the technology behind this new autonomous platform, which could also be adapted to other applications that require high resolution positioning information with sustained operations and observations in the polar marine environment, and present results pertaining to sea ice dynamics and physical oceanography.

An angle encoder for super-high resolution and super-high accuracy using SelfA

Science.gov (United States)

Watanabe, Tsukasa; Kon, Masahito; Nabeshima, Nobuo; Taniguchi, Kayoko

2014-06-01

Angular measurement technology at high resolution for applications such as in hard disk drive manufacturing machines, precision measurement equipment and aspherical process machines requires a rotary encoder with high accuracy, high resolution and high response speed. However, a rotary encoder has angular deviation factors during operation due to scale error or installation error. It has been assumed to be impossible to achieve accuracy below 0.1″ in angular measurement or control after the installation onto the rotating axis. Self-calibration (Lu and Trumper 2007 CIRP Ann. 56 499; Kim et al 2011 Proc. MacroScale; Probst 2008 Meas. Sci. Technol. 19 015101; Probst et al Meas. Sci. Technol. 9 1059; Tadashi and Makoto 1993 J. Robot. Mechatronics 5 448; Ralf et al 2006 Meas. Sci. Technol. 17 2811) and cross-calibration (Probst et al 1998 Meas. Sci. Technol. 9 1059; Just et al 2009 Precis. Eng. 33 530; Burnashev 2013 Quantum Electron. 43 130) technologies for a rotary encoder have been actively discussed on the basis of the principle of circular closure. This discussion prompted the development of rotary tables which achieve reliable and high accuracy angular verification. We apply these technologies for the development of a rotary encoder not only to meet the requirement of super-high accuracy but also to meet that of super-high resolution. This paper presents the development of an encoder with 221 = 2097 152 resolutions per rotation (360°), that is, corresponding to a 0.62″ signal period, achieved by the combination of a laser rotary encoder supplied by Magnescale Co., Ltd and a self-calibratable encoder (SelfA) supplied by The National Institute of Advanced Industrial Science & Technology (AIST). In addition, this paper introduces the development of a rotary encoder to guarantee ±0.03″ accuracy at any point of the interpolated signal, with respect to the encoder at the minimum resolution of 233, that is, corresponding to a 0.0015″ signal period after

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

Science.gov (United States)

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

2017-03-25

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

Autonomous Robot Navigation based on Visual Landmarks

DEFF Research Database (Denmark)

Livatino, Salvatore

2005-01-01

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 a...... automatically learn and store visual landmarks, and later recognize these landmarks from arbitrary positions and thus estimate robot position and heading.......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...... 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...

Initial results of centralized autonomous orbit determination of the new-generation BDS satellites with inter-satellite link measurements

Science.gov (United States)

Tang, Chengpan; Hu, Xiaogong; Zhou, Shanshi; Liu, Li; Pan, Junyang; Chen, Liucheng; Guo, Rui; Zhu, Lingfeng; Hu, Guangming; Li, Xiaojie; He, Feng; Chang, Zhiqiao

2018-01-01

Autonomous orbit determination is the ability of navigation satellites to estimate the orbit parameters on-board using inter-satellite link (ISL) measurements. This study mainly focuses on data processing of the ISL measurements as a new measurement type and its application on the centralized autonomous orbit determination of the new-generation Beidou navigation satellite system satellites for the first time. The ISL measurements are dual one-way measurements that follow a time division multiple access (TDMA) structure. The ranging error of the ISL measurements is less than 0.25 ns. This paper proposes a derivation approach to the satellite clock offsets and the geometric distances from TDMA dual one-way measurements without a loss of accuracy. The derived clock offsets are used for time synchronization, and the derived geometry distances are used for autonomous orbit determination. The clock offsets from the ISL measurements are consistent with the L-band two-way satellite, and time-frequency transfer clock measurements and the detrended residuals vary within 0.5 ns. The centralized autonomous orbit determination is conducted in a batch mode on a ground-capable server for the feasibility study. Constant hardware delays are present in the geometric distances and become the largest source of error in the autonomous orbit determination. Therefore, the hardware delays are estimated simultaneously with the satellite orbits. To avoid uncertainties in the constellation orientation, a ground anchor station that "observes" the satellites with on-board ISL payloads is introduced into the orbit determination. The root-mean-square values of orbit determination residuals are within 10.0 cm, and the standard deviation of the estimated ISL hardware delays is within 0.2 ns. The accuracy of the autonomous orbits is evaluated by analysis of overlap comparison and the satellite laser ranging (SLR) residuals and is compared with the accuracy of the L-band orbits. The results indicate

Interoception and Autonomic Correlates during Social Interactions. Implications for Anorexia

Directory of Open Access Journals (Sweden)

Marianna Ambrosecchia

2017-05-01

Full Text Available The aim of this study is to investigate the bodily-self in Restrictive Anorexia, focusing on two basic aspects related to the bodily self: autonomic strategies in social behavior, in which others' social desirability features, and social cues (e.g., gaze are modulated, and interoception (i.e., the sensitivity to stimuli originating inside the body. Furthermore, since previous studies carried out on healthy individuals found that interoception seems to contribute to the autonomic regulation of social behavior, as measured by Respiratory Sinus Arrhythmia (RSA, we aimed to explore this link in anorexia patients, whose ability to perceive their bodily signal seems to be impaired. To this purpose, we compared a group of anorexia patients (ANg; restrictive type with a group of Healthy Controls (HCg for RSA responses during both a resting state and a social proxemics task, for their explicit judgments of comfort in social distances during a behavioral proxemics task, and for their Interoceptive Accuracy (IA. The results showed that ANg displayed significantly lower social disposition and a flattened autonomic reactivity during the proxemics task, irrespective of the presence of others' socially desirable features or social cues. Moreover, unlike HCg, the autonomic arousal of ANg did not guide behavioral judgments of social distances. Finally, IA was strictly related to social disposition in both groups, but with opposite trends in ANg. We conclude that autonomic imbalance and its altered relationship with interoception might have a crucial role in anorexia disturbances.

An Autonomous Robot for De-leafing Cumcumber Plants grown in a High-wire Cultivation System

NARCIS (Netherlands)

Henten, van E.J.; Tuijl, van B.A.J.; Hoogakker, G.J.; Weerd, van der M.J.; Hemming, J.; Kornet, J.G.; Bontsema, J.

2006-01-01

The paper presents an autonomous robot for removing the leaves from cucumber plants grown in a high-wire cultivation system. Leaves at the lower end of the plants are removed because of their reduced vitality, their negligible contribution to canopy photosynthesis and their increased sensitivity to

INTRODUCING NOVEL GENERATION OF HIGH ACCURACY CAMERA OPTICAL-TESTING AND CALIBRATION TEST-STANDS FEASIBLE FOR SERIES PRODUCTION OF CAMERAS

Directory of Open Access Journals (Sweden)

M. Nekouei Shahraki

2015-12-01

Full Text Available The recent advances in the field of computer-vision have opened the doors of many opportunities for taking advantage of these techniques and technologies in many fields and applications. Having a high demand for these systems in today and future vehicles implies a high production volume of video cameras. The above criterions imply that it is critical to design test systems which deliver fast and accurate calibration and optical-testing capabilities. In this paper we introduce new generation of test-stands delivering high calibration quality in single-shot calibration of fisheye surround-view cameras. This incorporates important geometric features from bundle-block calibration, delivers very high (sub-pixel calibration accuracy, makes possible a very fast calibration procedure (few seconds, and realizes autonomous calibration via machines. We have used the geometrical shape of a Spherical Helix (Type: 3D Spherical Spiral with special geometrical characteristics, having a uniform radius which corresponds to the uniform motion. This geometrical feature was mechanically realized using three dimensional truncated icosahedrons which practically allow the implementation of a spherical helix on multiple surfaces. Furthermore the test-stand enables us to perform many other important optical tests such as stray-light testing, enabling us to evaluate the certain qualities of the camera optical module.

Autonomic Neuropathy

Science.gov (United States)

... risk of autonomic neuropathy. Other diseases. Amyloidosis, porphyria, hypothyroidism and cancer (usually due to side effects from treatment) may also increase the risk of autonomic neuropathy. ...

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...

An angle encoder for super-high resolution and super-high accuracy using SelfA

International Nuclear Information System (INIS)

Watanabe, Tsukasa; Kon, Masahito; Nabeshima, Nobuo; Taniguchi, Kayoko

2014-01-01

Angular measurement technology at high resolution for applications such as in hard disk drive manufacturing machines, precision measurement equipment and aspherical process machines requires a rotary encoder with high accuracy, high resolution and high response speed. However, a rotary encoder has angular deviation factors during operation due to scale error or installation error. It has been assumed to be impossible to achieve accuracy below 0.1″ in angular measurement or control after the installation onto the rotating axis. Self-calibration (Lu and Trumper 2007 CIRP Ann. 56 499; Kim et al 2011 Proc. MacroScale; Probst 2008 Meas. Sci. Technol. 19 015101; Probst et al Meas. Sci. Technol. 9 1059; Tadashi and Makoto 1993 J. Robot. Mechatronics 5 448; Ralf et al 2006 Meas. Sci. Technol. 17 2811) and cross-calibration (Probst et al 1998 Meas. Sci. Technol. 9 1059; Just et al 2009 Precis. Eng. 33 530; Burnashev 2013 Quantum Electron. 43 130) technologies for a rotary encoder have been actively discussed on the basis of the principle of circular closure. This discussion prompted the development of rotary tables which achieve reliable and high accuracy angular verification. We apply these technologies for the development of a rotary encoder not only to meet the requirement of super-high accuracy but also to meet that of super-high resolution. This paper presents the development of an encoder with 2 21 = 2097 152 resolutions per rotation (360°), that is, corresponding to a 0.62″ signal period, achieved by the combination of a laser rotary encoder supplied by Magnescale Co., Ltd and a self-calibratable encoder (SelfA) supplied by The National Institute of Advanced Industrial Science and Technology (AIST). In addition, this paper introduces the development of a rotary encoder to guarantee ±0.03″ accuracy at any point of the interpolated signal, with respect to the encoder at the minimum resolution of 2 33 , that is, corresponding to a 0.0015″ signal period

Classification of LIDAR Data for Generating a High-Precision Roadway Map

Science.gov (United States)

Jeong, J.; Lee, I.

2016-06-01

Generating of a highly precise map grows up with development of autonomous driving vehicles. The highly precise map includes a precision of centimetres level unlike an existing commercial map with the precision of meters level. It is important to understand road environments and make a decision for autonomous driving since a robust localization is one of the critical challenges for the autonomous driving car. The one of source data is from a Lidar because it provides highly dense point cloud data with three dimensional position, intensities and ranges from the sensor to target. In this paper, we focus on how to segment point cloud data from a Lidar on a vehicle and classify objects on the road for the highly precise map. In particular, we propose the combination with a feature descriptor and a classification algorithm in machine learning. Objects can be distinguish by geometrical features based on a surface normal of each point. To achieve correct classification using limited point cloud data sets, a Support Vector Machine algorithm in machine learning are used. Final step is to evaluate accuracies of obtained results by comparing them to reference data The results show sufficient accuracy and it will be utilized to generate a highly precise road map.

CLASSIFICATION OF LIDAR DATA FOR GENERATING A HIGH-PRECISION ROADWAY MAP

Directory of Open Access Journals (Sweden)

J. Jeong

2016-06-01

Full Text Available Generating of a highly precise map grows up with development of autonomous driving vehicles. The highly precise map includes a precision of centimetres level unlike an existing commercial map with the precision of meters level. It is important to understand road environments and make a decision for autonomous driving since a robust localization is one of the critical challenges for the autonomous driving car. The one of source data is from a Lidar because it provides highly dense point cloud data with three dimensional position, intensities and ranges from the sensor to target. In this paper, we focus on how to segment point cloud data from a Lidar on a vehicle and classify objects on the road for the highly precise map. In particular, we propose the combination with a feature descriptor and a classification algorithm in machine learning. Objects can be distinguish by geometrical features based on a surface normal of each point. To achieve correct classification using limited point cloud data sets, a Support Vector Machine algorithm in machine learning are used. Final step is to evaluate accuracies of obtained results by comparing them to reference data The results show sufficient accuracy and it will be utilized to generate a highly precise road map.

Autonomous Science Analysis with the New Millennium Program-Autonomous Sciencecraft Experiment

Science.gov (United States)

Doggett, T.; Davies, A. G.; Castano, R. A.; Baker, V. R.; Dohm, J. M.; Greeley, R.; Williams, K. K.; Chien, S.; Sherwood, R.

2002-12-01

The NASA New Millennium Program (NMP) is a testbed for new, high-risk technologies, including new software and hardware. The Autonomous Sciencecraft Experiment (ASE) will fly on the Air Force Research Laboratory TechSat-21 mission in 2006 is such a NMP mission, and is managed by the Jet Propulsion Laboratory, California Institute of Technology. TechSat-21 consists of three satellites, each equipped with X-band Synthetic Aperture Radar (SAR) that will occupy a 13-day repeat track Earth orbit. The main science objectives of ASE are to demonstrate that process-related change detection and feature identification can be conducted autonomously during space flight, leading to autonomous onboard retargeting of the spacecraft. This mission will observe transient geological and environmental processes using SAR. Examples of geologic processes that may be observed and investigated include active volcanism, the movement of sand dunes and transient features in desert environments, water flooding, and the formation and break-up of lake ice. Science software onboard the spacecraft will allow autonomous processing and formation of SAR images and extraction of scientific information. The subsequent analyses, performed on images formed onboard from the SAR data, will include feature identification using scalable feature "templates" for each target, change detection through comparison of current and archived images, and science discovery, a search for other features of interest in each image. This approach results in obtaining the same science return for a reduced amount of resource use (such as downlink) when compared to that from a mission operating without ASE technology. Redundant data is discarded. The science-driven goals of ASE will evolve during the ASE mission through onboard replanning software that can re-task satellite operations. If necessary, as a result of a discovery made autonomously by onboard science processing, existing observation sequences will be pre-empted to

vSLAM: vision-based SLAM for autonomous vehicle navigation

Science.gov (United States)

Goncalves, Luis; Karlsson, Niklas; Ostrowski, Jim; Di Bernardo, Enrico; Pirjanian, Paolo

2004-09-01

Among the numerous challenges of building autonomous/unmanned vehicles is that of reliable and autonomous localization in an unknown environment. In this paper we present a system that can efficiently and autonomously solve the robotics 'SLAM' problem, where a robot placed in an unknown environment, simultaneously must localize itself and make a map of the environment. The system is vision-based, and makes use of Evolution Robotic's powerful object recognition technology. As the robot explores the environment, it is continuously performing four tasks, using information from acquired images and the drive system odometry. The robot: (1) recognizes previously created 3-D visual landmarks; (2) builds new 3-D visual landmarks; (3) updates the current estimate of its location, using the map; (4) updates the landmark map. In indoor environments, the system can build a map of a 5m by 5m area in approximately 20 minutes, and can localize itself with an accuracy of approximately 15 cm in position and 3 degrees in orientation relative to the global reference frame of the landmark map. The same system can be adapted for outdoor, vehicular use.

A Novel Feature-Level Data Fusion Method for Indoor Autonomous Localization

Directory of Open Access Journals (Sweden)

Minxiang Liu

2013-01-01

Full Text Available We present a novel feature-level data fusion method for autonomous localization in an inactive multiple reference unknown indoor environment. Since monocular sensors cannot provide the depth information directly, the proposed method incorporates the edge information of images from a camera with homologous depth information received from an infrared sensor. Real-time experimental results demonstrate that the accuracies of position and orientation are greatly improved by using the proposed fusion method in an unknown complex indoor environment. Compared to monocular localization, the proposed method is found to have up to 70 percent improvement in accuracy.

Autonomous underwater vehicle for research and rescue operations

CSIR Research Space (South Africa)

Holtzhausen S

2008-11-01

Full Text Available Autonomous under water vehicles are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures...

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

Genetic autonomic disorders.

Science.gov (United States)

Axelrod, Felicia B

2013-03-01

Genetic disorders affecting the autonomic nervous system can result in abnormal development of the nervous system or they can be caused by neurotransmitter imbalance, an ion-channel disturbance or by storage of deleterious material. The symptoms indicating autonomic dysfunction, however, will depend upon whether the genetic lesion has disrupted peripheral or central autonomic centers or both. Because the autonomic nervous system is pervasive and affects every organ system in the body, autonomic dysfunction will result in impaired homeostasis and symptoms will vary. The possibility of genetic confirmation by molecular testing for specific diagnosis is increasing but treatments tend to remain only supportive and directed toward particular symptoms. Copyright © 2013 Elsevier Inc. All rights reserved.

Fast and High Accuracy Wire Scanner

CERN Document Server

Koujili, M; Koopman, J; Ramos, D; Sapinski, M; De Freitas, J; Ait Amira, Y; Djerdir, A

2009-01-01

Scanning of a high intensity particle beam imposes challenging requirements on a Wire Scanner system. It is expected to reach a scanning speed of 20 m.s-1 with a position accuracy of the order of 1 μm. In addition a timing accuracy better than 1 millisecond is needed. The adopted solution consists of a fork holding a wire rotating by a maximum of 200°. Fork, rotor and angular position sensor are mounted on the same axis and located in a chamber connected to the beam vacuum. The requirements imply the design of a system with extremely low vibration, vacuum compatibility, radiation and temperature tolerance. The adopted solution consists of a rotary brushless synchronous motor with the permanent magnet rotor installed inside of the vacuum chamber and the stator installed outside. The accurate position sensor will be mounted on the rotary shaft inside of the vacuum chamber, has to resist a bake-out temperature of 200°C and ionizing radiation up to a dozen of kGy/year. A digital feedback controller allows maxi...

Improvements in Attention and Cardiac Autonomic Modulation After a 2-Weeks Sprint Interval Training Program: A Fidelity Approach

Directory of Open Access Journals (Sweden)

Arilson F. M. de Sousa

2018-03-01

Full Text Available This study aimed to: (1 investigate the influence of a 2-weeks sprint interval training (SIT program on aerobic capacity, cardiac autonomic control, and components of attention in young healthy university students; and (2 to ascertain whether training fidelity would influence these adaptations. One hundred and nine participants were divided into an experimental (EG and control (CG groups. The EG performed a SIT program that consisted of 6 sessions of 4 × 30 s “all-out” efforts on a cycle ergometer, interspersed with active rests of 4 min. The criterion for fidelity was achieving >90% of estimated maximum heart rate (HR during sprint bouts. After analyses, the EG was divided into HIGH (n = 26 and LOW (n = 46 fidelity groups. Components of attention were assessed using the Attention Network Test (ANT. Aerobic capacity (VO2max was estimated while the sum of skinfolds was determined. Autonomic control of HR was assessed by means of HR variability (HRV and HR complexity at rest and during ANT. Both HIGH and LOW significantly increased aerobic capacity, vagal modulation before and during ANT, and executive control, and decreased body fatness after SIT (p < 0.05. However, only participants from HIGH showed an increase in HR complexity and accuracy in ANT when compared to LOW (p < 0.05. Two weeks of SIT improved executive control, body fatness, aerobic fitness, and autonomic control in university students with better results reported in those individuals who exhibited high fidelity.

The Bering Autonomous Target Detection

DEFF Research Database (Denmark)

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

2003-01-01

An autonomous asteroid target detection and tracking method has been developed. The method features near omnidirectionality and focus on high speed operations and completeness of search of the near space rather than the traditional faint object search methods, employed presently at the larger...... telescopes. The method has proven robust in operation and is well suited for use onboard spacecraft. As development target for the method and the associated instrumentation the asteroid research mission Bering has been used. Onboard a spacecraft, the autonomous detection is centered around the fully...... autonomous star tracker the Advanced Stellar Compass (ASC). One feature of this instrument is that potential targets are registered directly in terms of date, right ascension, declination, and intensity, which greatly facilitates both tracking search and registering. Results from ground and inflight tests...

Patients With Fibromyalgia Have Significant Autonomic Symptoms But Modest Autonomic Dysfunction.

Science.gov (United States)

Vincent, Ann; Whipple, Mary O; Low, Phillip A; Joyner, Michael; Hoskin, Tanya L

2016-05-01

Research suggests that disordered autonomic function may be one contributor to deconditioning reported in fibromyalgia; however, no study to date has assessed these variables simultaneously with comprehensive measures. To characterize physical fitness and autonomic function with the use of clinically validated measures and subjective questionnaires between patients with fibromyalgia and healthy controls. Cross-sectional, observational, controlled study. Community sample of patients with fibromyalgia and healthy controls. Thirty patients with fibromyalgia and 30 pain and fatigue-free controls. Participants completed a battery of self-report questionnaires and physiological measures, including clinically validated measures of physical fitness and autonomic function. Six-Minute Walk Test total distance, maximal oxygen consumption as assessed by cardiopulmonary exercise testing, total steps using activity monitor, Composite Autonomic Scoring Scale as assessed by Autonomic Reflex Screen, total metabolic equivalents per week using the International Physical Activity Questionnaire, and self-reported autonomic symptoms via the 31-item Composite Autonomic Symptom Score questionnaire. Autonomic function, as assessed by self-report, was significantly different between patients and controls (P physical activity was not significantly different between patients and controls (P = .99), but levels of moderate and vigorous physical activity as measured by actigraphy were significantly lower in patients (P = .012 and P = .047, respectively). Exercise capacity (6-Minute Walk) was poorer in patients (P = .0006), but there was no significant difference in maximal volume of oxygen consumption (P = .07). Patients with fibromyalgia report more severe symptoms across all domains, including physical activity and autonomic symptoms, compared with controls, but the objective assessments only showed modest differences. Our results suggest that patients with widespread subjective impairment of

Autonomic hyper-vigilance in post-infective fatigue syndrome.

Science.gov (United States)

Kadota, Yumiko; Cooper, Gavin; Burton, Alexander R; Lemon, Jim; Schall, Ulrich; Lloyd, Andrew; Vollmer-Conna, Ute

2010-09-01

This study examined whether post-infective fatigue syndrome (PIFS) is associated with a disturbance in bidirectional autonomic signalling resulting in heightened perception of symptoms and sensations from the body in conjunction with autonomic hyper-reactivity to perceived challenges. We studied 23 patients with PIFS and 25 healthy matched control subjects. A heartbeat discrimination task and a pressure pain threshold test were used to assess interoceptive sensitivity. Cardiac response was assessed over a 4-min Stroop task. PIFS was associated with higher accuracy in heartbeat discrimination and a lower pressure pain threshold. Increased interoceptive sensitivity correlated strongly with current symptoms and potentiated differences in the cardiac response to the Stroop task, which in PIFS was characterized by insensitivity to task difficulty and lack of habituation. Our results provide the first evidence of heightened interoceptive sensitivity in PIFS. Together with the distinct pattern in cardiac responsivity these findings present a picture of physiological hyper-vigilance and response inflexibility. Copyright (c) 2010 Elsevier B.V. All rights reserved.

Control of an Autonomous Vehicle for Registration of Weed and Crop in Precision Agriculture

DEFF Research Database (Denmark)

Nielsen, Kirsten Mølgaard; Andersen, Palle; Pedersen, Tom Søndergaard

2002-01-01

The paper describes the development of an autonomous electrical vehicle to be used for weed mapping in precision agriculture with special focus on the conceptual framework of the control system. The lowest layer of the control system is the propulsion and steering control, the second layer...... coordinates the movements of the wheel units, the third layer is path execution and perception and the upper layer performs planning and reasoning. The control system is implemented on an autonomous vehicle. The vehicle has been tested for path following and position accuracy. Based on the results a new...... vehicle is under construction....

A highly versatile autonomous underwater vehicle with biomechanical propulsion

NARCIS (Netherlands)

Simons, D.G.; Bergers, M.M.C.; Henrion, S.; Hulzenga, J.I.J.; Jutte, R.W.; Pas, W.M.G.; Van Schravendijk, M.; Vercruyssen, T.G.A.; Wilken, A.P.

2009-01-01

An autonomous underwater vehicle with a biomechanical propulsion system is a possible answer to the demand for small, silent sensor platforms in many fields. The design of Galatea, a bio-mimetic AUV, involves four aspects: hydrodynamic shape, the propulsion, the motion control systems and payload.

Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

Science.gov (United States)

2006-08-14

COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

Accuracy assessment of minimum control points for UAV photography and georeferencing

Science.gov (United States)

Skarlatos, D.; Procopiou, E.; Stavrou, G.; Gregoriou, M.

2013-08-01

In recent years, Autonomous Unmanned Aerial Vehicles (AUAV) became popular among researchers across disciplines because they combine many advantages. One major application is monitoring and mapping. Their ability to fly beyond eye sight autonomously, collecting data over large areas whenever, wherever, makes them excellent platform for monitoring hazardous areas or disasters. In both cases rapid mapping is needed while human access isn't always a given. Indeed, current automatic processing of aerial photos using photogrammetry and computer vision algorithms allows for rapid orthophomap production and Digital Surface Model (DSM) generation, as tools for monitoring and damage assessment. In such cases, control point measurement using GPS is either impossible, or time consuming or costly. This work investigates accuracies that can be attained using few or none control points over areas of one square kilometer, in two test sites; a typical block and a corridor survey. On board GPS data logged during AUAV's flight are being used for direct georeferencing, while ground check points are being used for evaluation. In addition various control point layouts are being tested using bundle adjustment for accuracy evaluation. Results indicate that it is possible to use on board single frequency GPS for direct georeferencing in cases of disaster management or areas without easy access, or even over featureless areas. Due to large numbers of tie points in the bundle adjustment, horizontal accuracy can be fulfilled with a rather small number of control points, but vertical accuracy may not.

Semi-Autonomous Systems Laboratory

Data.gov (United States)

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

Improving the Lane Reference Detection for Autonomous Road Vehicle Control

Directory of Open Access Journals (Sweden)

Felipe Jiménez

2016-01-01

Full Text Available Autonomous road vehicles are increasingly becoming more important and there are several techniques and sensors that are being applied for vehicle control. This paper presents an alternative system for maintaining the position of autonomous vehicles without adding additional elements to the standard sensor architecture, by using a 3D laser scanner for continuously detecting a reference element in situations in which the GNSS receiver fails or provides accuracy below the required level. Considering that the guidance variables are more accurately estimated when dealing with reference points in front of and behind the vehicle, an algorithm based on vehicle dynamics mathematical model is proposed to extend the detected points in cases where the sensor is placed at the front of the vehicle. The algorithm has been tested when driving along a lane delimited by New Jersey barriers at both sides and the results show a correct behaviour. The system is capable of estimating the reference element behind the vehicle with sufficient accuracy when the laser scanner is placed at the front of it, so the robustness of the control input variables (lateral and angular errors estimation is improved making it unnecessary to place the sensor on the vehicle roof or to introduce additional sensors.

High-accuracy measurements of the normal specular reflectance

International Nuclear Information System (INIS)

Voarino, Philippe; Piombini, Herve; Sabary, Frederic; Marteau, Daniel; Dubard, Jimmy; Hameury, Jacques; Filtz, Jean Remy

2008-01-01

The French Laser Megajoule (LMJ) is designed and constructed by the French Commissariata l'Energie Atomique (CEA). Its amplifying section needs highly reflective multilayer mirrors for the flash lamps. To monitor and improve the coating process, the reflectors have to be characterized to high accuracy. The described spectrophotometer is designed to measure normal specular reflectance with high repeatability by using a small spot size of 100 μm. Results are compared with ellipsometric measurements. The instrument can also perform spatial characterization to detect coating nonuniformity

A high accuracy land use/cover retrieval system

Directory of Open Access Journals (Sweden)

Alaa Hefnawy

2012-03-01

Full Text Available The effects of spatial resolution on the accuracy of mapping land use/cover types have received increasing attention as a large number of multi-scale earth observation data become available. Although many methods of semi automated image classification of remotely sensed data have been established for improving the accuracy of land use/cover classification during the past 40 years, most of them were employed in single-resolution image classification, which led to unsatisfactory results. In this paper, we propose a multi-resolution fast adaptive content-based retrieval system of satellite images. Through our proposed system, we apply a Super Resolution technique for the Landsat-TM images to have a high resolution dataset. The human–computer interactive system is based on modified radial basis function for retrieval of satellite database images. We apply the backpropagation supervised artificial neural network classifier for both the multi and single resolution datasets. The results show significant improved land use/cover classification accuracy for the multi-resolution approach compared with those from single-resolution approach.

Low-cost autonomous orbit control about Mars: Initial simulation results

Science.gov (United States)

Dawson, S. D.; Early, L. W.; Potterveld, C. W.; Königsmann, H. J.

1999-11-01

Interest in studying the possibility of extraterrestrial life has led to the re-emergence of the Red Planet as a major target of planetary exploration. Currently proposed missions in the post-2000 period are routinely calling for rendezvous with ascent craft, long-term orbiting of, and sample-return from Mars. Such missions would benefit greatly from autonomous orbit control as a means to reduce operations costs and enable contact with Mars ground stations out of view of the Earth. This paper present results from initial simulations of autonomously controlled orbits around Mars, and points out possible uses of the technology and areas of routine Mars operations where such cost-conscious and robust autonomy could prove most effective. These simulations have validated the approach and control philosophies used in the development of this autonomous orbit controller. Future work will refine the controller, accounting for systematic and random errors in the navigation of the spacecraft from the sensor suite, and will produce prototype flight code for inclusion on future missions. A modified version of Microcosm's commercially available High Precision Orbit Propagator (HPOP) was used in the preparation of these results due to its high accuracy and speed of operation. Control laws were developed to allow an autonomously controlled spacecraft to continuously control to a pre-defined orbit about Mars with near-optimal propellant usage. The control laws were implemented as an adjunct to HPOP. The GSFC-produced 50 × 50 field model of the Martian gravitational potential was used in all simulations. The Martian atmospheric drag was modeled using an exponentially decaying atmosphere based on data from the Mars-GRAM NASA Ames model. It is hoped that the simple atmosphere model that was implemented can be significantly improved in the future so as to approach the fidelity of the Mars-GRAM model in its predictions of atmospheric density at orbital altitudes. Such additional work

High accuracy satellite drag model (HASDM)

Science.gov (United States)

Storz, Mark F.; Bowman, Bruce R.; Branson, Major James I.; Casali, Stephen J.; Tobiska, W. Kent

The dominant error source in force models used to predict low-perigee satellite trajectories is atmospheric drag. Errors in operational thermospheric density models cause significant errors in predicted satellite positions, since these models do not account for dynamic changes in atmospheric drag for orbit predictions. The Air Force Space Battlelab's High Accuracy Satellite Drag Model (HASDM) estimates and predicts (out three days) a dynamically varying global density field. HASDM includes the Dynamic Calibration Atmosphere (DCA) algorithm that solves for the phases and amplitudes of the diurnal and semidiurnal variations of thermospheric density near real-time from the observed drag effects on a set of Low Earth Orbit (LEO) calibration satellites. The density correction is expressed as a function of latitude, local solar time and altitude. In HASDM, a time series prediction filter relates the extreme ultraviolet (EUV) energy index E10.7 and the geomagnetic storm index ap, to the DCA density correction parameters. The E10.7 index is generated by the SOLAR2000 model, the first full spectrum model of solar irradiance. The estimated and predicted density fields will be used operationally to significantly improve the accuracy of predicted trajectories for all low-perigee satellites.

Using function approximation to determine neural network accuracy

International Nuclear Information System (INIS)

Wichman, R.F.; Alexander, J.

2013-01-01

Many, if not most, control processes demonstrate nonlinear behavior in some portion of their operating range and the ability of neural networks to model non-linear dynamics makes them very appealing for control. Control of high reliability safety systems, and autonomous control in process or robotic applications, however, require accurate and consistent control and neural networks are only approximators of various functions so their degree of approximation becomes important. In this paper, the factors affecting the ability of a feed-forward back-propagation neural network to accurately approximate a non-linear function are explored. Compared to pattern recognition using a neural network for function approximation provides an easy and accurate method for determining the network's accuracy. In contrast to other techniques, we show that errors arising in function approximation or curve fitting are caused by the neural network itself rather than scatter in the data. A method is proposed that provides improvements in the accuracy achieved during training and resulting ability of the network to generalize after training. Binary input vectors provided a more accurate model than with scalar inputs and retraining using a small number of the outlier x,y pairs improved generalization. (author)

A New Three-Dimensional High-Accuracy Automatic Alignment System For Single-Mode Fibers

Science.gov (United States)

Yun-jiang, Rao; Shang-lian, Huang; Ping, Li; Yu-mei, Wen; Jun, Tang

1990-02-01

In order to achieve the low-loss splices of single-mode fibers, a new three-dimension high-accuracy automatic alignment system for single -mode fibers has been developed, which includes a new-type three-dimension high-resolution microdisplacement servo stage driven by piezoelectric elements, a new high-accuracy measurement system for the misalignment error of the fiber core-axis, and a special single chip microcomputer processing system. The experimental results show that alignment accuracy of ±0.1 pin with a movable stroke of -±20μm has been obtained. This new system has more advantages than that reported.

Run-Time Dynamically-Adaptable FPGA-Based Architecture for High-Performance Autonomous Distributed Systems

OpenAIRE

Valverde Alcalá, Juan

2016-01-01

Esta tesis doctoral se enmarca dentro del campo de los sistemas embebidos reconfigurables, redes de sensores inalámbricas para aplicaciones de altas prestaciones, y computación distribuida. El documento se centra en el estudio de alternativas de procesamiento para sistemas embebidos autónomos distribuidos de altas prestaciones (por sus siglas en inglés, High-Performance Autonomous Distributed Systems (HPADS)), así como su evolución hacia el procesamiento de alta resolución. El estudio se ha ...

On the accuracy potential of focused plenoptic camera range determination in long distance operation

Science.gov (United States)

Sardemann, Hannes; Maas, Hans-Gerd

2016-04-01

Plenoptic cameras have found increasing interest in optical 3D measurement techniques in recent years. While their basic principle is 100 years old, the development in digital photography, micro-lens fabrication technology and computer hardware has boosted the development and lead to several commercially available ready-to-use cameras. Beyond their popular option of a posteriori image focusing or total focus image generation, their basic ability of generating 3D information from single camera imagery depicts a very beneficial option for certain applications. The paper will first present some fundamentals on the design and history of plenoptic cameras and will describe depth determination from plenoptic camera image data. It will then present an analysis of the depth determination accuracy potential of plenoptic cameras. While most research on plenoptic camera accuracy so far has focused on close range applications, we will focus on mid and long ranges of up to 100 m. This range is especially relevant, if plenoptic cameras are discussed as potential mono-sensorial range imaging devices in (semi-)autonomous cars or in mobile robotics. The results show the expected deterioration of depth measurement accuracy with depth. At depths of 30-100 m, which may be considered typical in autonomous driving, depth errors in the order of 3% (with peaks up to 10-13 m) were obtained from processing small point clusters on an imaged target. Outliers much higher than these values were observed in single point analysis, stressing the necessity of spatial or spatio-temporal filtering of the plenoptic camera depth measurements. Despite these obviously large errors, a plenoptic camera may nevertheless be considered a valid option for the application fields of real-time robotics like autonomous driving or unmanned aerial and underwater vehicles, where the accuracy requirements decrease with distance.

Automated computation of autonomous spectral submanifolds for nonlinear modal analysis

Science.gov (United States)

Ponsioen, Sten; Pedergnana, Tiemo; Haller, George

2018-04-01

We discuss an automated computational methodology for computing two-dimensional spectral submanifolds (SSMs) in autonomous nonlinear mechanical systems of arbitrary degrees of freedom. In our algorithm, SSMs, the smoothest nonlinear continuations of modal subspaces of the linearized system, are constructed up to arbitrary orders of accuracy, using the parameterization method. An advantage of this approach is that the construction of the SSMs does not break down when the SSM folds over its underlying spectral subspace. A further advantage is an automated a posteriori error estimation feature that enables a systematic increase in the orders of the SSM computation until the required accuracy is reached. We find that the present algorithm provides a major speed-up, relative to numerical continuation methods, in the computation of backbone curves, especially in higher-dimensional problems. We illustrate the accuracy and speed of the automated SSM algorithm on lower- and higher-dimensional mechanical systems.

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Bo He

2015-08-01

Full Text Available In this paper, a novel iterative sparse extended information filter (ISEIF was proposed to solve the simultaneous localization and mapping problem (SLAM, which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF, standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well.

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles.

Science.gov (United States)

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-08-13

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well.

Autonomic Cluster Management System (ACMS): A Demonstration of Autonomic Principles at Work

Science.gov (United States)

Baldassari, James D.; Kopec, Christopher L.; Leshay, Eric S.; Truszkowski, Walt; Finkel, David

2005-01-01

Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of achieving significant computational capabilities for high-performance computing applications, while simultaneously affording the ability to. increase that capability simply by adding more (inexpensive) processors. However, the task of manually managing and con.guring a cluster quickly becomes impossible as the cluster grows in size. Autonomic computing is a relatively new approach to managing complex systems that can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Automatic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management.

An Autonomous Distributed Fault-Tolerant Local Positioning System

Science.gov (United States)

Malekpour, Mahyar R.

2017-01-01

We describe a fault-tolerant, GPS-independent (Global Positioning System) distributed autonomous positioning system for static/mobile objects and present solutions for providing highly-accurate geo-location data for the static/mobile objects in dynamic environments. The reliability and accuracy of a positioning system fundamentally depends on two factors; its timeliness in broadcasting signals and the knowledge of its geometry, i.e., locations and distances of the beacons. Existing distributed positioning systems either synchronize to a common external source like GPS or establish their own time synchrony using a scheme similar to a master-slave by designating a particular beacon as the master and other beacons synchronize to it, resulting in a single point of failure. Another drawback of existing positioning systems is their lack of addressing various fault manifestations, in particular, communication link failures, which, as in wireless networks, are increasingly dominating the process failures and are typically transient and mobile, in the sense that they typically affect different messages to/from different processes over time.

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

Science.gov (United States)

Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

2012-01-01

This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

Adaptive sensor-based ultra-high accuracy solar concentrator tracker

Science.gov (United States)

Brinkley, Jordyn; Hassanzadeh, Ali

2017-09-01

Conventional solar trackers use information of the sun's position, either by direct sensing or by GPS. Our method uses the shading of the receiver. This, coupled with nonimaging optics design allows us to achieve ultra-high concentration. Incorporating a sensor based shadow tracking method with a two stage concentration solar hybrid parabolic trough allows the system to maintain high concentration with acute accuracy.

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.

High accuracy digital aging monitor based on PLL-VCO circuit

International Nuclear Information System (INIS)

Zhang Yuejun; Jiang Zhidi; Wang Pengjun; Zhang Xuelong

2015-01-01

As the manufacturing process is scaled down to the nanoscale, the aging phenomenon significantly affects the reliability and lifetime of integrated circuits. Consequently, the precise measurement of digital CMOS aging is a key aspect of nanoscale aging tolerant circuit design. This paper proposes a high accuracy digital aging monitor using phase-locked loop and voltage-controlled oscillator (PLL-VCO) circuit. The proposed monitor eliminates the circuit self-aging effect for the characteristic of PLL, whose frequency has no relationship with circuit aging phenomenon. The PLL-VCO monitor is implemented in TSMC low power 65 nm CMOS technology, and its area occupies 303.28 × 298.94 μm 2 . After accelerating aging tests, the experimental results show that PLL-VCO monitor improves accuracy about high temperature by 2.4% and high voltage by 18.7%. (semiconductor integrated circuits)

A proposal for limited criminal liability in high-accuracy endoscopic sinus surgery.

Science.gov (United States)

Voultsos, P; Casini, M; Ricci, G; Tambone, V; Midolo, E; Spagnolo, A G

2017-02-01

The aim of the present study is to propose legal reform limiting surgeons' criminal liability in high-accuracy and high-risk surgery such as endoscopic sinus surgery (ESS). The study includes a review of the medical literature, focusing on identifying and examining reasons why ESS carries a very high risk of serious complications related to inaccurate surgical manoeuvers and reviewing British and Italian legal theory and case-law on medical negligence, especially with regard to Italian Law 189/2012 (so called "Balduzzi" Law). It was found that serious complications due to inaccurate surgical manoeuvers may occur in ESS regardless of the skill, experience and prudence/diligence of the surgeon. Subjectivity should be essential to medical negligence, especially regarding high-accuracy surgery. Italian Law 189/2012 represents a good basis for the limitation of criminal liability resulting from inaccurate manoeuvres in high-accuracy surgery such as ESS. It is concluded that ESS surgeons should be relieved of criminal liability in cases of simple/ordinary negligence where guidelines have been observed. © Copyright by Società Italiana di Otorinolaringologia e Chirurgia Cervico-Facciale, Rome, Italy.

High current high accuracy IGBT pulse generator

International Nuclear Information System (INIS)

Nesterov, V.V.; Donaldson, A.R.

1995-05-01

A solid state pulse generator capable of delivering high current triangular or trapezoidal pulses into an inductive load has been developed at SLAC. Energy stored in a capacitor bank of the pulse generator is switched to the load through a pair of insulated gate bipolar transistors (IGBT). The circuit can then recover the remaining energy and transfer it back to the capacitor bank without reversing the capacitor voltage. A third IGBT device is employed to control the initial charge to the capacitor bank, a command charging technique, and to compensate for pulse to pulse power losses. The rack mounted pulse generator contains a 525 μF capacitor bank. It can deliver 500 A at 900V into inductive loads up to 3 mH. The current amplitude and discharge time are controlled to 0.02% accuracy by a precision controller through the SLAC central computer system. This pulse generator drives a series pair of extraction dipoles

A High-Efficiency Wind Energy Harvester for Autonomous Embedded Systems.

Science.gov (United States)

Brunelli, Davide

2016-03-04

Energy harvesting is currently a hot research topic, mainly as a consequence of the increasing attractiveness of computing and sensing solutions based on small, low-power distributed embedded systems. Harvesting may enable systems to operate in a deploy-and-forget mode, particularly when power grid is absent and the use of rechargeable batteries is unattractive due to their limited lifetime and maintenance requirements. This paper focuses on wind flow as an energy source feasible to meet the energy needs of a small autonomous embedded system. In particular the contribution is on the electrical converter and system integration. We characterize the micro-wind turbine, we define a detailed model of its behaviour, and then we focused on a highly efficient circuit to convert wind energy into electrical energy. The optimized design features an overall volume smaller than 64 cm³. The core of the harvester is a high efficiency buck-boost converter which performs an optimal power point tracking. Experimental results show that the wind generator boosts efficiency over a wide range of operating conditions.

A High-Efficiency Wind Energy Harvester for Autonomous Embedded Systems

Science.gov (United States)

Brunelli, Davide

2016-01-01

Energy harvesting is currently a hot research topic, mainly as a consequence of the increasing attractiveness of computing and sensing solutions based on small, low-power distributed embedded systems. Harvesting may enable systems to operate in a deploy-and-forget mode, particularly when power grid is absent and the use of rechargeable batteries is unattractive due to their limited lifetime and maintenance requirements. This paper focuses on wind flow as an energy source feasible to meet the energy needs of a small autonomous embedded system. In particular the contribution is on the electrical converter and system integration. We characterize the micro-wind turbine, we define a detailed model of its behaviour, and then we focused on a highly efficient circuit to convert wind energy into electrical energy. The optimized design features an overall volume smaller than 64 cm3. The core of the harvester is a high efficiency buck-boost converter which performs an optimal power point tracking. Experimental results show that the wind generator boosts efficiency over a wide range of operating conditions. PMID:26959018

A High-Efficiency Wind Energy Harvester for Autonomous Embedded Systems

Directory of Open Access Journals (Sweden)

Davide Brunelli

2016-03-01

Full Text Available Energy harvesting is currently a hot research topic, mainly as a consequence of the increasing attractiveness of computing and sensing solutions based on small, low-power distributed embedded systems. Harvesting may enable systems to operate in a deploy-and-forget mode, particularly when power grid is absent and the use of rechargeable batteries is unattractive due to their limited lifetime and maintenance requirements. This paper focuses on wind flow as an energy source feasible to meet the energy needs of a small autonomous embedded system. In particular the contribution is on the electrical converter and system integration. We characterize the micro-wind turbine, we define a detailed model of its behaviour, and then we focused on a highly efficient circuit to convert wind energy into electrical energy. The optimized design features an overall volume smaller than 64 cm3. The core of the harvester is a high efficiency buck-boost converter which performs an optimal power point tracking. Experimental results show that the wind generator boosts efficiency over a wide range of operating conditions.

High-accuracy determination for optical indicatrix rotation in ferroelectric DTGS

OpenAIRE

O.S.Kushnir; O.A.Bevz; O.G.Vlokh

2000-01-01

Optical indicatrix rotation in deuterated ferroelectric triglycine sulphate is studied with the high-accuracy null-polarimetric technique. The behaviour of the effect in ferroelectric phase is referred to quadratic spontaneous electrooptics.

Achieving High Accuracy in Calculations of NMR Parameters

DEFF Research Database (Denmark)

Faber, Rasmus

quantum chemical methods have been developed, the calculation of NMR parameters with quantitative accuracy is far from trivial. In this thesis I address some of the issues that makes accurate calculation of NMR parameters so challenging, with the main focus on SSCCs. High accuracy quantum chemical......, but no programs were available to perform such calculations. As part of this thesis the CFOUR program has therefore been extended to allow the calculation of SSCCs using the CC3 method. CC3 calculations of SSCCs have then been performed for several molecules, including some difficult cases. These results show...... vibrations must be included. The calculation of vibrational corrections to NMR parameters has been reviewed as part of this thesis. A study of the basis set convergence of vibrational corrections to nuclear shielding constants has also been performed. The basis set error in vibrational correction...

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.

Field dose radiation determination by active learning with Gaussian Process for autonomous robot guiding

International Nuclear Information System (INIS)

Freitas Naiff, Danilo de; Silveira, Paulo R.; Pereira, Claudio M.N.A.

2017-01-01

This article proposes an approach for determination of radiation dose pro le in a radiation-susceptible environment, aiming to guide an autonomous robot in acting on those environments, reducing the human exposure to dangerous amount of dose. The approach consists of an active learning method based on information entropy reduction, using log-normally warped Gaussian Process (GP) as surrogate model, resulting in non-linear online regression with sequential measurements. Experiments with simulated radiation dose fields of varying complexity were made, and results showed that the approach was effective in reconstruct the eld with high accuracy, through relatively few measurements. The technique was also shown some robustness in presence measurement noise, present in real measurements, by assuming Gaussian noise. (author)

Field dose radiation determination by active learning with Gaussian Process for autonomous robot guiding

Energy Technology Data Exchange (ETDEWEB)

Freitas Naiff, Danilo de; Silveira, Paulo R.; Pereira, Claudio M.N.A., E-mail: danilonai1992@poli.ufrj.br, E-mail: paulo@lmp.ufrj.br, E-mail: cmnap@ien.gov.br [Coordenacao de Pos-Graduacao e Pesquisa de Engenharia (PEN/COPPE/UFRJ), Rio de Janeiro, RJ (Brazil); Instituto de Engenharia Nuclear (IEN/CNEN-RJ), Rio de Janeiro, RJ (Brazil)

2017-11-01

This article proposes an approach for determination of radiation dose pro le in a radiation-susceptible environment, aiming to guide an autonomous robot in acting on those environments, reducing the human exposure to dangerous amount of dose. The approach consists of an active learning method based on information entropy reduction, using log-normally warped Gaussian Process (GP) as surrogate model, resulting in non-linear online regression with sequential measurements. Experiments with simulated radiation dose fields of varying complexity were made, and results showed that the approach was effective in reconstruct the eld with high accuracy, through relatively few measurements. The technique was also shown some robustness in presence measurement noise, present in real measurements, by assuming Gaussian noise. (author)

An autonomous rendezvous and docking system using cruise missile technologies

Science.gov (United States)

Jones, Ruel Edwin

1991-01-01

In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.

Testing for autonomic neuropathy

DEFF Research Database (Denmark)

Hilsted, J

1984-01-01

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

Basic Simulation Environment for Highly Customized Connected and Autonomous Vehicle Kinematic Scenarios.

Science.gov (United States)

Chai, Linguo; Cai, Baigen; ShangGuan, Wei; Wang, Jian; Wang, Huashen

2017-08-23

To enhance the reality of Connected and Autonomous Vehicles (CAVs) kinematic simulation scenarios and to guarantee the accuracy and reliability of the verification, a four-layer CAVs kinematic simulation framework, which is composed with road network layer, vehicle operating layer, uncertainties modelling layer and demonstrating layer, is proposed in this paper. Properties of the intersections are defined to describe the road network. A target position based vehicle position updating method is designed to simulate such vehicle behaviors as lane changing and turning. Vehicle kinematic models are implemented to maintain the status of the vehicles when they are moving towards the target position. Priorities for individual vehicle control are authorized for different layers. Operation mechanisms of CAVs uncertainties, which are defined as position error and communication delay in this paper, are implemented in the simulation to enhance the reality of the simulation. A simulation platform is developed based on the proposed methodology. A comparison of simulated and theoretical vehicle delay has been analyzed to prove the validity and the creditability of the platform. The scenario of rear-end collision avoidance is conducted to verify the uncertainties operating mechanisms, and a slot-based intersections (SIs) control strategy is realized and verified in the simulation platform to show the supports of the platform to CAVs kinematic simulation and verification.

Geological factors influencing the design of a narrow-reef autonomous gold miner

CSIR Research Space (South Africa)

Henry, G

2011-08-01

Full Text Available Underground mining is a high risk activity, and the design of an autonomous gold miner will reduce high risk to miners, monitor underground conditions and reduce costs. The narrow reef autonomous mining machine will be designed to be an underground...

High-Accuracy Spherical Near-Field Measurements for Satellite Antenna Testing

DEFF Research Database (Denmark)

Breinbjerg, Olav

2017-01-01

The spherical near-field antenna measurement technique is unique in combining several distinct advantages and it generally constitutes the most accurate technique for experimental characterization of radiation from antennas. From the outset in 1970, spherical near-field antenna measurements have...... matured into a well-established technique that is widely used for testing antennas for many wireless applications. In particular, for high-accuracy applications, such as remote sensing satellite missions in ESA's Earth Observation Programme with uncertainty requirements at the level of 0.05dB - 0.10d......B, the spherical near-field antenna measurement technique is generally superior. This paper addresses the means to achieving high measurement accuracy; these include the measurement technique per se, its implementation in terms of proper measurement procedures, the use of uncertainty estimates, as well as facility...

High Accuracy Piezoelectric Kinemometer; Cinemometro piezoelectrico de alta exactitud (VUAE)

Energy Technology Data Exchange (ETDEWEB)

Jimenez Martinez, F. J.; Frutos, J. de; Pastor, C.; Vazquez Rodriguez, M.

2012-07-01

We have developed a portable computerized and low consumption, our system is called High Accuracy Piezoelectric Kinemometer measurement, herein VUAE. By the high accuracy obtained by VUAE it make able to use the VUAE to obtain references measurements of system for measuring Speeds in Vehicles. Therefore VUAE could be used how reference equipment to estimate the error of installed kinemometers. The VUAE was created with n (n=2) pairs of ultrasonic transmitter-receiver, herein E-Rult. The transmitters used in the n couples E-Rult generate n ultrasonic barriers and receivers receive the echoes when the vehicle crosses the barriers. Digital processing of the echoes signals let us to obtain acceptable signals. Later, by mean of cross correlation technics is possible make a highly exact estimation of speed of the vehicle. The log of the moments of interception and the distance between each of the n ultrasounds allows for a highly exact estimation of speed of the vehicle. VUAE speed measurements were compared to a speed reference system based on piezoelectric cables. (Author) 11 refs.

Dysfunctional Brain Networking among Autonomic Regulatory Structures in Temporal Lobe Epilepsy Patients at High Risk of Sudden Unexpected Death in Epilepsy

Directory of Open Access Journals (Sweden)

Luke A. Allen

2017-10-01

Full Text Available BackgroundSudden unexpected death in epilepsy (SUDEP is common among young people with epilepsy. Individuals who are at high risk of SUDEP exhibit regional brain structural and functional connectivity (FC alterations compared with low-risk patients. However, less is known about network-based FC differences among critical cortical and subcortical autonomic regulatory brain structures in temporal lobe epilepsy (TLE patients at high risk of SUDEP.Methods32 TLE patients were risk-stratified according to the following clinical criteria: age of epilepsy onset, duration of epilepsy, frequency of generalized tonic–clonic seizures, and presence of nocturnal seizures, resulting in 14 high-risk and 18 low-risk cases. Resting-state functional magnetic resonance imaging (rs-fMRI signal time courses were extracted from 11 bilateral cortical and subcortical brain regions involved in autonomic and other regulatory processes. After computing all pairwise correlations, FC matrices were analyzed using the network-based statistic. FC strength among the 11 brain regions was compared between the high- and low-risk patients. Increases and decreases in FC were sought, using high-risk > low-risk and low-risk > high-risk contrasts (with covariates age, gender, lateralization of epilepsy, and presence of hippocampal sclerosis.ResultsHigh-risk TLE patients showed a subnetwork with significantly reduced FC (t = 2.5, p = 0.029 involving the thalamus, brain stem, anterior cingulate, putamen and amygdala, and a second subnetwork with significantly elevated FC (t = 2.1, p = 0.031, which extended to medial/orbital frontal cortex, insula, hippocampus, amygdala, subcallosal cortex, brain stem, thalamus, caudate, and putamen.ConclusionTLE patients at high risk of SUDEP showed widespread FC differences between key autonomic regulatory brain regions compared to those at low risk. The altered FC revealed here may help to shed light on the functional

Dysfunctional Brain Networking among Autonomic Regulatory Structures in Temporal Lobe Epilepsy Patients at High Risk of Sudden Unexpected Death in Epilepsy.

Science.gov (United States)

Allen, Luke A; Harper, Ronald M; Kumar, Rajesh; Guye, Maxime; Ogren, Jennifer A; Lhatoo, Samden D; Lemieux, Louis; Scott, Catherine A; Vos, Sjoerd B; Rani, Sandhya; Diehl, Beate

2017-01-01

Sudden unexpected death in epilepsy (SUDEP) is common among young people with epilepsy. Individuals who are at high risk of SUDEP exhibit regional brain structural and functional connectivity (FC) alterations compared with low-risk patients. However, less is known about network-based FC differences among critical cortical and subcortical autonomic regulatory brain structures in temporal lobe epilepsy (TLE) patients at high risk of SUDEP. 32 TLE patients were risk-stratified according to the following clinical criteria: age of epilepsy onset, duration of epilepsy, frequency of generalized tonic-clonic seizures, and presence of nocturnal seizures, resulting in 14 high-risk and 18 low-risk cases. Resting-state functional magnetic resonance imaging (rs-fMRI) signal time courses were extracted from 11 bilateral cortical and subcortical brain regions involved in autonomic and other regulatory processes. After computing all pairwise correlations, FC matrices were analyzed using the network-based statistic. FC strength among the 11 brain regions was compared between the high- and low-risk patients. Increases and decreases in FC were sought, using high-risk > low-risk and low-risk > high-risk contrasts (with covariates age, gender, lateralization of epilepsy, and presence of hippocampal sclerosis). High-risk TLE patients showed a subnetwork with significantly reduced FC ( t  = 2.5, p  = 0.029) involving the thalamus, brain stem, anterior cingulate, putamen and amygdala, and a second subnetwork with significantly elevated FC ( t  = 2.1, p  = 0.031), which extended to medial/orbital frontal cortex, insula, hippocampus, amygdala, subcallosal cortex, brain stem, thalamus, caudate, and putamen. TLE patients at high risk of SUDEP showed widespread FC differences between key autonomic regulatory brain regions compared to those at low risk. The altered FC revealed here may help to shed light on the functional correlates of autonomic disturbances in epilepsy

Overview of the Autonomic Nervous System

Science.gov (United States)

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

A Machine Learning Approach to Pedestrian Detection for Autonomous Vehicles Using High-Definition 3D Range Data

Directory of Open Access Journals (Sweden)

Pedro J. Navarro

2016-12-01

Full Text Available This article describes an automated sensor-based system to detect pedestrians in an autonomous vehicle application. Although the vehicle is equipped with a broad set of sensors, the article focuses on the processing of the information generated by a Velodyne HDL-64E LIDAR sensor. The cloud of points generated by the sensor (more than 1 million points per revolution is processed to detect pedestrians, by selecting cubic shapes and applying machine vision and machine learning algorithms to the XY, XZ, and YZ projections of the points contained in the cube. The work relates an exhaustive analysis of the performance of three different machine learning algorithms: k-Nearest Neighbours (kNN, Naïve Bayes classifier (NBC, and Support Vector Machine (SVM. These algorithms have been trained with 1931 samples. The final performance of the method, measured a real traffic scenery, which contained 16 pedestrians and 469 samples of non-pedestrians, shows sensitivity (81.2%, accuracy (96.2% and specificity (96.8%.

A Machine Learning Approach to Pedestrian Detection for Autonomous Vehicles Using High-Definition 3D Range Data.

Science.gov (United States)

Navarro, Pedro J; Fernández, Carlos; Borraz, Raúl; Alonso, Diego

2016-12-23

This article describes an automated sensor-based system to detect pedestrians in an autonomous vehicle application. Although the vehicle is equipped with a broad set of sensors, the article focuses on the processing of the information generated by a Velodyne HDL-64E LIDAR sensor. The cloud of points generated by the sensor (more than 1 million points per revolution) is processed to detect pedestrians, by selecting cubic shapes and applying machine vision and machine learning algorithms to the XY, XZ, and YZ projections of the points contained in the cube. The work relates an exhaustive analysis of the performance of three different machine learning algorithms: k-Nearest Neighbours (kNN), Naïve Bayes classifier (NBC), and Support Vector Machine (SVM). These algorithms have been trained with 1931 samples. The final performance of the method, measured a real traffic scenery, which contained 16 pedestrians and 469 samples of non-pedestrians, shows sensitivity (81.2%), accuracy (96.2%) and specificity (96.8%).

Catecholamines and diabetic autonomic neuropathy

DEFF Research Database (Denmark)

Hilsted, J

1995-01-01

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

High-Intensity Progressive Resistance Training Increases Strength With No Change in Cardiovascular Function and Autonomic Neural Regulation in Older Adults.

Science.gov (United States)

Kanegusuku, Hélcio; Queiroz, Andréia C; Silva, Valdo J; de Mello, Marco T; Ugrinowitsch, Carlos; Forjaz, Cláudia L

2015-07-01

The effects of high-intensity progressive resistance training (HIPRT) on cardiovascular function and autonomic neural regulation in older adults are unclear. To investigate this issue, 25 older adults were randomly divided into two groups: control (CON, N = 13, 63 ± 4 years; no training) and HIPRT (N = 12, 64 ± 4 years; 2 sessions/week, 7 exercises, 2–4 sets, 10–4 RM). Before and after four months, maximal strength, quadriceps cross-sectional area (QCSA), clinic and ambulatory blood pressures (BP), systemic hemodynamics, and cardiovascular autonomic modulation were measured. Maximal strength and QCSA increased in the HIPRT group and did not change in the CON group. Clinic and ambulatory BP, cardiac output, systemic vascular resistance, stroke volume, heart rate, and cardiac sympathovagal balance did not change in the HIPRT group or the CON group. In conclusion, HIPRT was effective at increasing muscle mass and strength without promoting changes in cardiovascular function or autonomic neural regulation.

Autonomous Wireless Self-Charging for Multi-Rotor Unmanned Aerial Vehicles

Directory of Open Access Journals (Sweden)

Ali Bin Junaid

2017-06-01

Full Text Available Rotary-wing unmanned aerial vehicles (UAVs have the ability to operate in confined spaces and to hover over point of interest, but they have limited flight time and endurance. Conventional contact-based charging system for UAVs has been used, but it requires high landing accuracy for proper docking. Instead of the conventional system, autonomous wireless battery charging system for UAVs in outdoor conditions is proposed in this paper. UAVs can be wirelessly charged using the proposed charging system, regardless of yaw angle between UAVs and wireless charging pad, which can further reduce their control complexity for autonomous landing. The increased overall mission time eventually relaxes the limitations on payload and flight time. In this paper, a cost effective automatic recharging solution for UAVs in outdoor environments is proposed using wireless power transfer (WPT. This research proposes a global positioning system (GPS and vision-based closed-loop target detection and a tracking system for precise landing of quadcopters in outdoor environments. The system uses the onboard camera to detect the shape, color and position of the defined target in image frame. Based on the offset of the target from the center of the image frame, control commands are generated to track and maintain the center position. Commercially available AR.Drone. was used to demonstrate the proposed concept which is equppied with bottom camera and GPS. Experiments and analyses showed good performance, and about 75% average WPT efficiency was achieved in this research.

Type 2 diabetes and cardiac autonomic neuropathy screening using dynamic pupillometry

Science.gov (United States)

Lerner, Alana G.; Bernabé-Ortiz, Antonio; Ticse, Ray; Hernandez, Arturo; Huaylinos, Yvonne; Pinto, Miguel E.; Málaga, Germán; Checkley, William; Gilman, Robert H.; Miranda, J. Jaime

2015-01-01

Aim To determine if changes in pupillary response are useful as a screening tool for diabetes and to assess whether pupillometry is associated with cardiac autonomic neuropathy. Methods We conducted a cross-sectional study with participants drawn from two settings: a hospital and a community site. At the community site, individuals with newly diagnosed diabetes as well as a random sample of control individuals without diabetes, confirmed by oral glucose tolerance test, were selected. Participants underwent an LED light stimulus test and eight pupillometry variables were measured. Outcomes were diabetes, defined by oral glucose tolerance test, and cardiac autonomic dysfunction, determined by a positive readout on two of four diagnostic tests: heart rate response to the Valsalva manoeuvre; orthostatic hypotension; 30:15 ratio; and expiration-to-inspiration ratio. The area under the curve, best threshold, sensitivity and specificity of each pupillometry variable was calculated. Results Data from 384 people, 213 with diabetes, were analysed. The mean (±SD) age of the people with diabetes was 58.6 (±8.2) years and in the control subjects it was 56.1 (±8.6) years. When comparing individuals with and without diabetes, the amplitude of the pupil reaction had the highest area under the curve [0.69 (sensitivity: 78%; specificity: 55%)]. Cardiac autonomic neuropathy was present in 51 of the 138 people evaluated (37.0%; 95% CI 28.8–45.1). To diagnose cardiac autonomic neuropathy, two pupillometry variables had the highest area under the curve: baseline pupil radius [area under the curve: 0.71 (sensitivity: 51%; specificity: 84%)], and amplitude of the pupil reaction [area under the curve: 070 (sensitivity: 82%; specificity: 55%)]. Conclusions Pupillometry is an inexpensive technique to screen for diabetes and cardiac autonomic neuropathy, but it does not have sufficient accuracy for clinical use as a screening tool. PMID:25761508

Why is a high accuracy needed in dosimetry

International Nuclear Information System (INIS)

Lanzl, L.H.

1976-01-01

Dose and exposure intercomparisons on a national or international basis have become an important component of quality assurance in the practice of good radiotherapy. A high degree of accuracy of γ and x radiation dosimetry is essential in our international society, where medical information is so readily exchanged and used. The value of accurate dosimetry lies mainly in the avoidance of complications in normal tissue and an optimal degree of tumor control

Research on key technology of prognostic and health management for autonomous underwater vehicle

Science.gov (United States)

Zhou, Zhi

2017-12-01

Autonomous Underwater Vehicles (AUVs) are non-cable and autonomous motional underwater robotics. With a wide range of activities, it can reach thousands of kilometers. Because it has the advantages of wide range, good maneuverability, safety and intellectualization, it becomes an important tool for various underwater tasks. How to improve diagnosis accuracy of the AUVs electrical system faults, and how to repair AUVs by the information are the focus of navy in the world. In turn, ensuring safe and reliable operation of the system has very important significance to improve AUVs sailing performance. To solve these problems, in the paper the prognostic and health management(PHM) technology is researched and used to AUV, and the overall framework and key technology are proposed, such as data acquisition, feature extraction, fault diagnosis, failure prediction and so on.

Are Autonomous and Controlled Motivations School-Subjects-Specific?

Science.gov (United States)

Chanal, Julien; Guay, Frédéric

2015-01-01

This research sought to test whether autonomous and controlled motivations are specific to school subjects or more general to the school context. In two cross-sectional studies, 252 elementary school children (43.7% male; mean age = 10.7 years, SD = 1.3 years) and 334 junior high school children (49.7% male, mean age = 14.07 years, SD = 1.01 years) were administered a questionnaire assessing their motivation for various school subjects. Results based on structural equation modeling using the correlated trait-correlated method minus one model (CTCM-1) showed that autonomous and controlled motivations assessed at the school subject level are not equally school-subject-specific. We found larger specificity effects for autonomous (intrinsic and identified) than for controlled (introjected and external) motivation. In both studies, results of factor loadings and the correlations with self-concept and achievement demonstrated that more evidence of specificity was obtained for autonomous regulations than for controlled ones. These findings suggest a new understanding of the hierarchical and multidimensional academic structure of autonomous and controlled motivations and of the mechanisms involved in the development of types of regulations for school subjects. PMID:26247788

Effect of maturation on hemodynamic and autonomic control recovery following maximal running exercise in highly-trained young soccer players

Directory of Open Access Journals (Sweden)

Martin eBuchheit

2011-10-01

Full Text Available The purpose of this study was to examine the effect of maturation on post-exercise hemodynamic and autonomic responses. Fifty-five highly-trained young male soccer players (12-18 yr classified as pre-, circum- or post-peak height velocity (PHV performed a graded running test to exhaustion on a treadmill. Before (Pre and after (5th-10th min, Post exercise, heart rate (HR, stroke volume (SV, cardiac ouput (CO, arterial pressure (AP and total peripheral resistance (TPR were monitored. Parasympathetic (high-frequency [HFRR] of HR variability (HRV and baroreflex sensitivity [Ln BRS] and sympathetic activity (low-frequency [LFSAP] of systolic AP variability were estimated. Post-exercise blood lactate [La]b, the HR recovery (HRR time constant and parasympathetic reactivation (time varying HRV analysis were assessed. In all three groups, exercise resulted in increased HR, CO, AP and LFSAP (P<0.001, decreased SV, HFRR and Ln BRS (all P<0.001, and no change in TPRI (P=0.98. There was no ‘maturation x time’ interaction for any of the hemodynamic or autonomic variables (all P>0.22. After exercise, pre-PHV players displayed lower SV, CO and [La]b, faster HRR and greater parasympathetic reactivation compared with circum- and post-PHV players. Multiple regression analysis showed that lean muscle mass, [La]b and Pre parasympathetic activity were the strongest predictors of HRR (r2=0.62, P<0.001. While pre-PHV players displayed a faster HRR and greater post-exercise parasympathetic reactivation, maturation had little influence on the hemodynamic and autonomic responses following maximal running exercise. HRR relates to lean muscle mass, blood acidosis and intrinsic parasympathetic function, with less evident impact of post-exercise autonomic function.

High psychosis liability is associated with altered autonomic balance during exposure to Virtual Reality social stressors

NARCIS (Netherlands)

Counotte, Jacqueline; Pot-Kolder, Roos; van Roon, Arie M.; Hoskam, Olivier; van der Gaag, Mark; Veling, Wim

Background: Social stressors are associated with an increased risk of psychosis. Stress sensitisation is thought to be an underlying mechanismand may be reflected in an altered autonomic stress response. Using an experimental Virtual Reality design, the autonomic stress response to social

Autonomous orbit determination and its error analysis for deep space using X-ray pulsar

International Nuclear Information System (INIS)

Feng, Dongzhu; Yuan, Xiaoguang; Guo, Hehe; Wang, Xin

2014-01-01

Autonomous orbit determination (OD) is a complex process using filtering method to integrate observation and orbit dynamic model effectively and estimate the position and velocity of a spacecraft. As a novel technology for autonomous interplanetary OD, X-ray pulsar holds great promise for deep space exploration. The position and velocity of spacecraft should be estimated accurately during the OD process. However, under the same condition, the accuracy of OD can be greatly reduced by the error of the initial orbit value and the orbit mutation. To resolve this problem, we propose a novel OD method, which is based on the X-ray pulsar measurement and Adaptive Unscented Kalman Filter (AUKF). The accuracy of OD can be improved obviously because the AUKF estimates the orbit of spacecraft using measurement residual. During the simulation, the orbit of Phoenix Mars Lander, Deep Impact Probe, and Voyager 1 are selected. Compared with Unscented Kalman Filter (UKF) and Extended Kalman Filter (EKF), the simulation results demonstrate that the proposed OD method based on AUKF can accurately determinate the velocity and position and effectively decrease the orbit estimated errors which is caused by the orbit mutation and orbit initial errors. (authors)

Commande et planification de trajectoires pour la navigation de véhicules autonomes

OpenAIRE

Tagne Fokam , Gilles

2014-01-01

My research focuses on trajectory planning and control of autonomous vehicles. This work is a part of an extremely ambitious project launched by the Heudiasyc laboratory about autonomous driving at high speed (longitudinal speed greater to 5m/s ~= 18 km/h). With regard to the control of autonomous vehicles at high speed, a lateral controler using higher-order sliding mode control is proposed. Given the implicit similarity between the sliding mode and the principle of immersion and invariance,...

Autonomic cardiac innervation

Science.gov (United States)

Hasan, Wohaib

2013-01-01

Autonomic cardiac neurons have a common origin in the neural crest but undergo distinct developmental differentiation as they mature toward their adult phenotype. Progenitor cells respond to repulsive cues during migration, followed by differentiation cues from paracrine sources that promote neurochemistry and differentiation. When autonomic axons start to innervate cardiac tissue, neurotrophic factors from vascular tissue are essential for maintenance of neurons before they reach their targets, upon which target-derived trophic factors take over final maturation, synaptic strength and postnatal survival. Although target-derived neurotrophins have a central role to play in development, alternative sources of neurotrophins may also modulate innervation. Both developing and adult sympathetic neurons express proNGF, and adult parasympathetic cardiac ganglion neurons also synthesize and release NGF. The physiological function of these “non-classical” cardiac sources of neurotrophins remains to be determined, especially in relation to autocrine/paracrine sustenance during development.   Cardiac autonomic nerves are closely spatially associated in cardiac plexuses, ganglia and pacemaker regions and so are sensitive to release of neurotransmitter, neuropeptides and trophic factors from adjacent nerves. As such, in many cardiac pathologies, it is an imbalance within the two arms of the autonomic system that is critical for disease progression. Although this crosstalk between sympathetic and parasympathetic nerves has been well established for adult nerves, it is unclear whether a degree of paracrine regulation occurs across the autonomic limbs during development. Aberrant nerve remodeling is a common occurrence in many adult cardiovascular pathologies, and the mechanisms regulating outgrowth or denervation are disparate. However, autonomic neurons display considerable plasticity in this regard with neurotrophins and inflammatory cytokines having a central regulatory

Multivariate pattern classification reveals autonomic and experiential representations of discrete emotions.

Science.gov (United States)

Kragel, Philip A; Labar, Kevin S

2013-08-01

Defining the structural organization of emotions is a central unresolved question in affective science. In particular, the extent to which autonomic nervous system activity signifies distinct affective states remains controversial. Most prior research on this topic has used univariate statistical approaches in attempts to classify emotions from psychophysiological data. In the present study, electrodermal, cardiac, respiratory, and gastric activity, as well as self-report measures were taken from healthy subjects during the experience of fear, anger, sadness, surprise, contentment, and amusement in response to film and music clips. Information pertaining to affective states present in these response patterns was analyzed using multivariate pattern classification techniques. Overall accuracy for classifying distinct affective states was 58.0% for autonomic measures and 88.2% for self-report measures, both of which were significantly above chance. Further, examining the error distribution of classifiers revealed that the dimensions of valence and arousal selectively contributed to decoding emotional states from self-report, whereas a categorical configuration of affective space was evident in both self-report and autonomic measures. Taken together, these findings extend recent multivariate approaches to study emotion and indicate that pattern classification tools may improve upon univariate approaches to reveal the underlying structure of emotional experience and physiological expression. PsycINFO Database Record (c) 2013 APA, all rights reserved.

Innovative Fiber-Optic Gyroscopes (FOGs) for High Accuracy Space Applications, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — This project aims to develop a compact, highly innovative Inertial Reference/Measurement Unit (IRU/IMU) that pushes the state-of-the-art in high accuracy performance...

High accuracy acoustic relative humidity measurement in duct flow with air.

Science.gov (United States)

van Schaik, Wilhelm; Grooten, Mart; Wernaart, Twan; van der Geld, Cees

2010-01-01

An acoustic relative humidity sensor for air-steam mixtures in duct flow is designed and tested. Theory, construction, calibration, considerations on dynamic response and results are presented. The measurement device is capable of measuring line averaged values of gas velocity, temperature and relative humidity (RH) instantaneously, by applying two ultrasonic transducers and an array of four temperature sensors. Measurement ranges are: gas velocity of 0-12 m/s with an error of ± 0.13 m/s, temperature 0-100 °C with an error of ± 0.07 °C and relative humidity 0-100% with accuracy better than 2 % RH above 50 °C. Main advantage over conventional humidity sensors is the high sensitivity at high RH at temperatures exceeding 50 °C, with accuracy increasing with increasing temperature. The sensors are non-intrusive and resist highly humid environments.

Design of a Path-Tracking Steering Controller for Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Chuanyang Sun

2018-06-01

Full Text Available This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA, showing the improved performance of the present controller at high speeds.

Two high accuracy digital integrators for Rogowski current transducers

Science.gov (United States)

Luo, Pan-dian; Li, Hong-bin; Li, Zhen-hua

2014-01-01

The Rogowski current transducers have been widely used in AC current measurement, but their accuracy is mainly subject to the analog integrators, which have typical problems such as poor long-term stability and being susceptible to environmental conditions. The digital integrators can be another choice, but they cannot obtain a stable and accurate output for the reason that the DC component in original signal can be accumulated, which will lead to output DC drift. Unknown initial conditions can also result in integral output DC offset. This paper proposes two improved digital integrators used in Rogowski current transducers instead of traditional analog integrators for high measuring accuracy. A proportional-integral-derivative (PID) feedback controller and an attenuation coefficient have been applied in improving the Al-Alaoui integrator to change its DC response and get an ideal frequency response. For the special design in the field of digital signal processing, the improved digital integrators have better performance than analog integrators. Simulation models are built for the purpose of verification and comparison. The experiments prove that the designed integrators can achieve higher accuracy than analog integrators in steady-state response, transient-state response, and temperature changing condition.

Alexithymia and empathy predict changes in autonomic arousal during affective stimulation.

Science.gov (United States)

Bogdanov, Volodymyr B; Bogdanova, Olena V; Gorlov, Dmytro S; Gorgo, Yuriy P; Dirckx, Joris J J; Makarchuk, Mykola Y; Schoenen, Jean; Critchley, Hugo

2013-09-01

Alexithymia, the inability to describe one's own emotions, is linked to deficits in empathy, manifesting as a diminished capacity to recognize or understand the emotions and mental states of others. Several brain centers of autonomic control and interoception that are activated in empathy are thought to misfunction in alexithymia. We hypothesized that individual differences in autonomic changes under affective stimulation might be associated with differences in alexithymia and empathy. We studied 21 healthy volunteers, comparing their alexithymia and empathy scores with changes in their sympathetic autonomic arousal, indexed by the palmar skin potential level, during 3 tasks: playing a computer game, performing mental arithmetic, and watching a negative emotional valence video. Both autonomic and subjective sense of arousal increased at the beginning of each task and then gradually subsided over the course of the task. Higher autonomic arousal at the onset of the computer game was associated with higher empathy scores, and at the onset of the negative video with higher scores for both empathy and alexithymia. Alexithymia delayed the habituation of autonomic arousal during the computer game, while the empathy score was related to a faster decline in arousal during the negative video task. High alexithymia and high empathy scores were linked to increased autonomic arousal at the onset of emotional stimulation, but were distinguishable in the rates of habituation of the evoked arousal. Our data provide insight into the relationships among interacting psychological traits, physiologic regulation, and the arousal dimension of emotional experience.

Electron ray tracing with high accuracy

International Nuclear Information System (INIS)

Saito, K.; Okubo, T.; Takamoto, K.; Uno, Y.; Kondo, M.

1986-01-01

An electron ray tracing program is developed to investigate the overall geometrical and chromatic aberrations in electron optical systems. The program also computes aberrations due to manufacturing errors in lenses and deflectors. Computation accuracy is improved by (1) calculating electrostatic and magnetic scalar potentials using the finite element method with third-order isoparametric elements, and (2) solving the modified ray equation which the aberrations satisfy. Computation accuracy of 4 nm is achieved for calculating optical properties of the system with an electrostatic lens

High accuracy 3D electromagnetic finite element analysis

International Nuclear Information System (INIS)

Nelson, Eric M.

1997-01-01

A high accuracy 3D electromagnetic finite element field solver employing quadratic hexahedral elements and quadratic mixed-order one-form basis functions will be described. The solver is based on an object-oriented C++ class library. Test cases demonstrate that frequency errors less than 10 ppm can be achieved using modest workstations, and that the solutions have no contamination from spurious modes. The role of differential geometry and geometrical physics in finite element analysis will also be discussed

High accuracy 3D electromagnetic finite element analysis

International Nuclear Information System (INIS)

Nelson, E.M.

1996-01-01

A high accuracy 3D electromagnetic finite element field solver employing quadratic hexahedral elements and quadratic mixed-order one-form basis functions will be described. The solver is based on an object-oriented C++ class library. Test cases demonstrate that frequency errors less than 10 ppm can be achieved using modest workstations, and that the solutions have no contamination from spurious modes. The role of differential geometry and geometrical physics in finite element analysis will also be discussed

Personality change at the intersection of autonomic arousal and stress.

Science.gov (United States)

Hart, Daniel; Eisenberg, Nancy; Valiente, Carlos

2007-06-01

We hypothesized that personality change in children can be predicted by the interaction of family risk with susceptibility to autonomic arousal and that children characterized by both high-risk families and highly reactive autonomic nervous systems tend to show maladaptive change. This hypothesis was tested in a 6-year longitudinal study in which personality-type prototypicality, problem behavior, and negative emotional intensity were measured at 2-year intervals. The results indicated that children who both had exaggerated skin conductance responses (a measure of autonomic reactivity) and were living in families with multiple risk factors were most likely to develop an undercontrolled personality type and to exhibit increases in problem behavior and negative emotional intensity. The implications of the results for understanding personality change are discussed.

A High-Throughput, High-Accuracy System-Level Simulation Framework for System on Chips

Directory of Open Access Journals (Sweden)

Guanyi Sun

2011-01-01

Full Text Available Today's System-on-Chips (SoCs design is extremely challenging because it involves complicated design tradeoffs and heterogeneous design expertise. To explore the large solution space, system architects have to rely on system-level simulators to identify an optimized SoC architecture. In this paper, we propose a system-level simulation framework, System Performance Simulation Implementation Mechanism, or SPSIM. Based on SystemC TLM2.0, the framework consists of an executable SoC model, a simulation tool chain, and a modeling methodology. Compared with the large body of existing research in this area, this work is aimed at delivering a high simulation throughput and, at the same time, guaranteeing a high accuracy on real industrial applications. Integrating the leading TLM techniques, our simulator can attain a simulation speed that is not slower than that of the hardware execution by a factor of 35 on a set of real-world applications. SPSIM incorporates effective timing models, which can achieve a high accuracy after hardware-based calibration. Experimental results on a set of mobile applications proved that the difference between the simulated and measured results of timing performance is within 10%, which in the past can only be attained by cycle-accurate models.

Autonomous, On-board Processing for Sensor Systems

Data.gov (United States)

National Aeronautics and Space Administration — Fuse high performance reconfigurable processors with emerging fault-tolerance & autonomous processing techniques for a 10-100x decrease in processing time. This...

Escalator: An Autonomous Scheduling Scheme for Convergecast in TSCH.

Science.gov (United States)

Oh, Sukho; Hwang, DongYeop; Kim, Ki-Hyung; Kim, Kangseok

2018-04-16

Time Slotted Channel Hopping (TSCH) is widely used in the industrial wireless sensor networks due to its high reliability and energy efficiency. Various timeslot and channel scheduling schemes have been proposed for achieving high reliability and energy efficiency for TSCH networks. Recently proposed autonomous scheduling schemes provide flexible timeslot scheduling based on the routing topology, but do not take into account the network traffic and packet forwarding delays. In this paper, we propose an autonomous scheduling scheme for convergecast in TSCH networks with RPL as a routing protocol, named Escalator. Escalator generates a consecutive timeslot schedule along the packet forwarding path to minimize the packet transmission delay. The schedule is generated autonomously by utilizing only the local routing topology information without any additional signaling with other nodes. The generated schedule is guaranteed to be conflict-free, in that all nodes in the network could transmit packets to the sink in every slotframe cycle. We implement Escalator and evaluate its performance with existing autonomous scheduling schemes through a testbed and simulation. Experimental results show that the proposed Escalator has lower end-to-end delay and higher packet delivery ratio compared to the existing schemes regardless of the network topology.

Accuracy of hiatal hernia detection with esophageal high-resolution manometry

NARCIS (Netherlands)

Weijenborg, P. W.; van Hoeij, F. B.; Smout, A. J. P. M.; Bredenoord, A. J.

2015-01-01

The diagnosis of a sliding hiatal hernia is classically made with endoscopy or barium esophagogram. Spatial separation of the lower esophageal sphincter (LES) and diaphragm, the hallmark of hiatal hernia, can also be observed on high-resolution manometry (HRM), but the diagnostic accuracy of this

Passive and Self-Powered Autonomous Sensors for Remote Measurements

Directory of Open Access Journals (Sweden)

Mauro Serpelloni

2009-02-01

Full Text Available Autonomous sensors play a very important role in the environmental, structural, and medical fields. The use of this kind of systems can be expanded for several applications, for example in implantable devices inside the human body where it is impossible to use wires. Furthermore, they enable measurements in harsh or hermetic environments, such as under extreme heat, cold, humidity or corrosive conditions. The use of batteries as a power supply for these devices represents one solution, but the size, and sometimes the cost and unwanted maintenance burdens of replacement are important drawbacks. In this paper passive and self-powered autonomous sensors for harsh or hermetical environments without batteries are discussed. Their general architectures are presented. Sensing strategies, communication techniques and power management are analyzed. Then, general building blocks of an autonomous sensor are presented and the design guidelines that such a system must follow are given. Furthermore, this paper reports different proposed applications of autonomous sensors applied in harsh or hermetic environments: two examples of passive autonomous sensors that use telemetric communication are proposed, the first one for humidity measurements and the second for high temperatures. Other examples of self-powered autonomous sensors that use a power harvesting system from electromagnetic fields are proposed for temperature measurements and for airflow speeds.

Passive and self-powered autonomous sensors for remote measurements.

Science.gov (United States)

Sardini, Emilio; Serpelloni, Mauro

2009-01-01

Autonomous sensors play a very important role in the environmental, structural, and medical fields. The use of this kind of systems can be expanded for several applications, for example in implantable devices inside the human body where it is impossible to use wires. Furthermore, they enable measurements in harsh or hermetic environments, such as under extreme heat, cold, humidity or corrosive conditions. The use of batteries as a power supply for these devices represents one solution, but the size, and sometimes the cost and unwanted maintenance burdens of replacement are important drawbacks. In this paper passive and self-powered autonomous sensors for harsh or hermetical environments without batteries are discussed. Their general architectures are presented. Sensing strategies, communication techniques and power management are analyzed. Then, general building blocks of an autonomous sensor are presented and the design guidelines that such a system must follow are given. Furthermore, this paper reports different proposed applications of autonomous sensors applied in harsh or hermetic environments: two examples of passive autonomous sensors that use telemetric communication are proposed, the first one for humidity measurements and the second for high temperatures. Other examples of self-powered autonomous sensors that use a power harvesting system from electromagnetic fields are proposed for temperature measurements and for airflow speeds.

An Autonomous Wearable System for Predicting and Detecting Localised Muscle Fatigue

Science.gov (United States)

Al-Mulla, Mohamed R.; Sepulveda, Francisco; Colley, Martin

2011-01-01

Muscle fatigue is an established area of research and various types of muscle fatigue have been clinically investigated in order to fully understand the condition. This paper demonstrates a non-invasive technique used to automate the fatigue detection and prediction process. The system utilises the clinical aspects such as kinematics and surface electromyography (sEMG) of an athlete during isometric contractions. Various signal analysis methods are used illustrating their applicability in real-time settings. This demonstrated system can be used in sports scenarios to promote muscle growth/performance or prevent injury. To date, research on localised muscle fatigue focuses on the clinical side and lacks the implementation for detecting/predicting localised muscle fatigue using an autonomous system. Results show that automating the process of localised muscle fatigue detection/prediction is promising. The autonomous fatigue system was tested on five individuals showing 90.37% accuracy on average of correct classification and an error of 4.35% in predicting the time to when fatigue will onset. PMID:22319367

An Autonomous Wearable System for Predicting and Detecting Localised Muscle Fatigue

Directory of Open Access Journals (Sweden)

Martin Colley

2011-01-01

Full Text Available Muscle fatigue is an established area of research and various types of muscle fatigue have been clinically investigated in order to fully understand the condition. This paper demonstrates a non-invasive technique used to automate the fatigue detection and prediction process. The system utilises the clinical aspects such as kinematics and surface electromyography (sEMG of an athlete during isometric contractions. Various signal analysis methods are used illustrating their applicability in real-time settings. This demonstrated system can be used in sports scenarios to promote muscle growth/performance or prevent injury. To date, research on localised muscle fatigue focuses on the clinical side and lacks the implementation for detecting/predicting localised muscle fatigue using an autonomous system. Results show that automating the process of localised muscle fatigue detection/prediction is promising. The autonomous fatigue system was tested on five individuals showing 90.37% accuracy on average of correct classification and an error of 4.35% in predicting the time to when fatigue will onset.

Autonomous agricultural remote sensing systems with high spatial and temporal resolutions

Science.gov (United States)

Xiang, Haitao

In this research, two novel agricultural remote sensing (RS) systems, a Stand-alone Infield Crop Monitor RS System (SICMRS) and an autonomous Unmanned Aerial Vehicles (UAV) based RS system have been studied. A high-resolution digital color and multi-spectral camera was used as the image sensor for the SICMRS system. An artificially intelligent (AI) controller based on artificial neural network (ANN) and an adaptive neuro-fuzzy inference system (ANFIS) was developed. Morrow Plots corn field RS images in the 2004 and 2006 growing seasons were collected by the SICMRS system. The field site contained 8 subplots (9.14 m x 9.14 m) that were planted with corn and three different fertilizer treatments were used among those subplots. The raw RS images were geometrically corrected, resampled to 10cm resolution, removed soil background and calibrated to real reflectance. The RS images from two growing seasons were studied and 10 different vegetation indices were derived from each day's image. The result from the image processing demonstrated that the vegetation indices have temporal effects. To achieve high quality RS data, one has to utilize the right indices and capture the images at the right time in the growing season. Maximum variations among the image data set are within the V6-V10 stages, which indicated that these stages are the best period to identify the spatial variability caused by the nutrient stress in the corn field. The derived vegetation indices were also used to build yield prediction models via the linear regression method. At that point, all of the yield prediction models were evaluated by comparing the R2-value and the best index model from each day's image was picked based on the highest R 2-value. It was shown that the green normalized difference vegetation (GNDVI) based model is more sensitive to yield prediction than other indices-based models. During the VT-R4 stages, the GNDVI based models were able to explain more than 95% potential corn yield

High Accuracy Acoustic Relative Humidity Measurement inDuct Flow with Air

Directory of Open Access Journals (Sweden)

Cees van der Geld

2010-08-01

Full Text Available An acoustic relative humidity sensor for air-steam mixtures in duct flow is designed and tested. Theory, construction, calibration, considerations on dynamic response and results are presented. The measurement device is capable of measuring line averaged values of gas velocity, temperature and relative humidity (RH instantaneously, by applying two ultrasonic transducers and an array of four temperature sensors. Measurement ranges are: gas velocity of 0–12 m/s with an error of ±0.13 m/s, temperature 0–100 °C with an error of ±0.07 °C and relative humidity 0–100% with accuracy better than 2 % RH above 50 °C. Main advantage over conventional humidity sensors is the high sensitivity at high RH at temperatures exceeding 50 °C, with accuracy increasing with increasing temperature. The sensors are non-intrusive and resist highly humid environments.

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

An autonomous control framework for advanced reactors

Directory of Open Access Journals (Sweden)

Richard T. Wood

2017-08-01

Full Text Available Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

An autonomous control framework for advanced reactors

International Nuclear Information System (INIS)

Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C.

2017-01-01

Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors

An autonomous control framework for advanced reactors

Energy Technology Data Exchange (ETDEWEB)

Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C. [Dept. of Nuclear Engineering, University of Tennessee, Knoxville (United States)

2017-08-15

Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

Adaptive Sampling in Autonomous Marine Sensor Networks

National Research Council Canada - National Science Library

Eickstedt, Donald P

2006-01-01

... oceanographic network scenario. This architecture has three major components, an intelligent, logical sensor that provides high-level environmental state information to a behavior-based autonomous vehicle control system, a new...

Autonomous execution of the Precision Immobilization Technique

Science.gov (United States)

Mascareñas, David D. L.; Stull, Christopher J.; Farrar, Charles R.

2017-03-01

Over the course of the last decade great advances have been made in autonomously driving cars. The technology has advanced to the point that driverless car technology is currently being tested on publicly accessed roadways. The introduction of these technologies onto publicly accessed roadways not only raises questions of safety, but also security. Autonomously driving cars are inherently cyber-physical systems and as such will have novel security vulnerabilities that couple both the cyber aspects of the vehicle including the on-board computing and any network data it makes use of, with the physical nature of the vehicle including its sensors, actuators, and the vehicle chassis. Widespread implementation of driverless car technology will require that both the cyber, as well as physical security concerns surrounding these vehicles are addressed. In this work, we specifically developed a control policy to autonomously execute the Precision Immobilization Technique, a.k.a. the PIT maneuver. The PIT maneuver was originally developed by law enforcement to end high-speed vehicular pursuits in a quasi-safe manner. However, there is still a risk of damage/roll-over to both the vehicle executing the PIT maneuver as well as to the vehicle subject to the PIT maneuver. In law enforcement applications, it would be preferable to execute the PIT maneuver using an autonomous vehicle, thus removing the danger to law-enforcement officers. Furthermore, it is entirely possible that unscrupulous individuals could inject code into an autonomously-driving car to use the PIT maneuver to immobilize other vehicles while maintaining anonymity. For these reasons it is useful to know how the PIT maneuver can be implemented on an autonomous car. In this work a simple control policy based on velocity pursuit was developed to autonomously execute the PIT maneuver using only a vision and range measurements that are both commonly collected by contemporary driverless cars. The ability of this

Alterations in cardiac autonomic control in spinal cord injury.

Science.gov (United States)

Biering-Sørensen, Fin; Biering-Sørensen, Tor; Liu, Nan; Malmqvist, Lasse; Wecht, Jill Maria; Krassioukov, Andrei

2018-01-01

A spinal cord injury (SCI) interferes with the autonomic nervous system (ANS). The effect on the cardiovascular system will depend on the extent of damage to the spinal/central component of ANS. The cardiac changes are caused by loss of supraspinal sympathetic control and relatively increased parasympathetic cardiac control. Decreases in sympathetic activity result in heart rate and the arterial blood pressure changes, and may cause arrhythmias, in particular bradycardia, with the risk of cardiac arrest in those with cervical or high thoracic injuries. The objective of this review is to give an update of the current knowledge related to the alterations in cardiac autonomic control following SCI. With this purpose the review includes the following subheadings: 2. Neuro-anatomical plasticity and cardiac control 2.1 Autonomic nervous system and the heart 2.2 Alteration in autonomic control of the heart following spinal cord injury 3. Spinal shock and neurogenic shock 3.1 Pathophysiology of spinal shock 3.2 Pathophysiology of neurogenic shock 4. Autonomic dysreflexia 4.1 Pathophysiology of autonomic dysreflexia 4.2 Diagnosis of autonomic dysreflexia 5. Heart rate/electrocardiography following spinal cord injury 5.1 Acute phase 5.2 Chronic phase 6. Heart rate variability 6.1 Time domain analysis 6.2 Frequency domain analysis 6.3 QT-variability index 6.4 Nonlinear (fractal) indexes 7. Echocardiography 7.1 Changes in cardiac structure following spinal cord injury 7.2 Changes in cardiac function following spinal cord injury 8. International spinal cord injury cardiovascular basic data set and international standards to document the remaining autonomic function in spinal cord injury. Copyright © 2017 Elsevier B.V. All rights reserved.

Reliable and Efficient Autonomous Driving: the Need for Heterogeneous Vehicular Networks

OpenAIRE

Zheng, Kan; Zheng, Qiang; Yang, Haojun; Zhao, Long; Hou, Lu; Chatzimisios, Periklis

2015-01-01

Autonomous driving technology has been regarded as a promising solution to reduce road accidents and traffic congestion, as well as to optimize the usage of fuel and lane. Reliable and high efficient Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communications are essential to let commercial autonomous driving vehicles be on the road before 2020. The current paper firstly presents the concept of Heterogeneous Vehicular NETworks (HetVNETs) for autonomous driving, in which an imp...

Evaluating the autonomic nervous system in patients with laryngopharyngeal reflux.

Science.gov (United States)

Huang, Wan-Ju; Shu, Chih-Hung; Chou, Kun-Ta; Wang, Yi-Fen; Hsu, Yen-Bin; Ho, Ching-Yin; Lan, Ming-Ying

2013-06-01

The pathogenesis of laryngopharyngeal reflux (LPR) remains unclear. It is linked to but distinct from gastroesophageal reflux disease (GERD), which has been shown to be related to disturbed autonomic regulation. The aim of this study is to investigate whether autonomic dysfunction also plays a role in the pathogenesis of LPR. Case-control study. Tertiary care center. Seventeen patients with LPR and 19 healthy controls, aged between 19 and 50 years, were enrolled in the study. The patients were diagnosed with LPR if they had a reflux symptom index (RSI) ≥ 13 and a reflux finding score (RFS) ≥ 7. Spectral analysis of heart rate variability (HRV) analysis was used to assess autonomic function. Anxiety and depression levels measured by the Beck Anxiety Inventory (BAI) and Beck Depression Inventory II (BDI-II) were also conducted. In HRV analysis, high frequency (HF) represents the parasympathetic activity of the autonomic nervous system, whereas low frequency (LF) represents the total autonomic activity. There were no significant differences in the LF power and HF power between the 2 groups. However, significantly lower HF% (P = .003) and a higher LF/HF ratio (P = .012) were found in patients with LPR, who demonstrated poor autonomic modulation and higher sympathetic activity. Anxiety was also frequently observed in the patient group. The study suggests that autonomic dysfunction seems to be involved in the pathogenesis of LPR. The potential beneficial effect of autonomic nervous system modulation as a therapeutic modality for LPR merits further investigation.

Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

Directory of Open Access Journals (Sweden)

Vinayak V Dixit

Full Text Available Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

Science.gov (United States)

Dixit, Vinayak V; Chand, Sai; Nair, Divya J

2016-01-01

Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

Autonomous Vehicles: Disengagements, Accidents and Reaction Times

Science.gov (United States)

Dixit, Vinayak V.; Chand, Sai; Nair, Divya J.

2016-01-01

Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems. PMID:27997566

High accuracy 3D electromagnetic finite element analysis

International Nuclear Information System (INIS)

Nelson, E.M.

1997-01-01

A high accuracy 3D electromagnetic finite element field solver employing quadratic hexahedral elements and quadratic mixed-order one-form basis functions will be described. The solver is based on an object-oriented C++ class library. Test cases demonstrate that frequency errors less than 10 ppm can be achieved using modest workstations, and that the solutions have no contamination from spurious modes. The role of differential geometry and geometrical physics in finite element analysis will also be discussed. copyright 1997 American Institute of Physics

Public health, autonomous automobiles, and the rush to market.

Science.gov (United States)

Kelley, Ben

2017-05-01

The USA has the worst motor vehicle safety problem among high-income countries and is pressing forward with the development of autonomous automobiles to address it. Government guidance and regulation, still inadequate, will be critical to the safety of the public. The analysis of this public health problem in the USA reveals the key factors that will determine the benefits and risks of autonomous vehicles around the world.

Association between autonomic dysfunction and fatigue in Parkinson disease.

Science.gov (United States)

Chou, Kelvin L; Gilman, Sid; Bohnen, Nicolaas I

2017-06-15

Fatigue is a disabling non-motor symptom in Parkinson disease (PD). We investigated the relationship between autonomic dysfunction and fatigue in PD while accounting for possible confounding factors. 29 subjects with PD (8F/21M; mean age 61.6±5.9; mean disease duration 4.8±3.0years), underwent clinical assessment and completed several non-motor symptom questionnaires, including a modified version of the Mayo Clinic Composite Autonomic Symptom Score (COMPASS) scale and the Fatigue Severity Scale (FSS). The mean modified COMPASS was 21.6±14.2 (range 1.7-44.2) and the mean FSS score was 3.3±1.6 (range 1.0-6.7). There was a significant bivariate relationship between the modified COMPASS and FSS scores (R=0.69, P<0.0001). Stepwise regression analysis was used to assess the specificity of the association between the modified COMPASS and FSS scores while accounting for possible confounder effects from other variables that were significantly associated with autonomic dysfunction. Results showed that the modified COMPASS (R 2 =0.52, F=28.4, P<0.0001) was highly associated with fatigue, followed by ESS (R 2 =0.13, F=8.4, P=0.008) but no other co-variates. Post-hoc analysis exploring the association between the different modified COMPASS autonomic sub-domain scores and FSS scores found significant regressor effects for the orthostatic intolerance (R 2 =0.45, F=21.2, P<0.0001) and secretomotor sub-domains (R 2 =0.09, F=4.8, P=0.04) but not for other autonomic sub-domains. Autonomic dysfunction, in particular orthostatic intolerance, is highly associated with fatigue in PD. Copyright © 2017 Elsevier B.V. All rights reserved.

A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data

Directory of Open Access Journals (Sweden)

Xinyan Qin

2018-02-01

Full Text Available With the growth of the national economy, there is increasing demand for electricity, which forces transmission line corridors to become structurally complicated and extend to complex environments (e.g., mountains, forests. It is a great challenge to inspect transmission line in these regions. To address these difficulties, a novel method of autonomous inspection for transmission line is proposed based on cable inspection robot (CIR LiDAR data, which mainly includes two steps: preliminary inspection and autonomous inspection. In preliminary inspection, the position and orientation system (POS data is used for original point cloud dividing, ground point filtering, and structured partition. A hierarchical classification strategy is established to identify the classes and positions of the abnormal points. In autonomous inspection, CIR can autonomously reach the specified points through inspection planning. These inspection targets are imaged with PTZ (pan, tilt, zoom cameras by coordinate transformation. The feasibility and effectiveness of the proposed method are verified by test site experiments and actual line experiments, respectively. The proposed method greatly reduces manpower and improves inspection accuracy, providing a theoretical basis for intelligent inspection of transmission lines in the future.

Insights into the background of autonomic medicine.

Science.gov (United States)

Laranjo, Sérgio; Geraldes, Vera; Oliveira, Mário; Rocha, Isabel

2017-10-01

Knowledge of the physiology underlying the autonomic nervous system is pivotal for understanding autonomic dysfunction in clinical practice. Autonomic dysfunction may result from primary modifications of the autonomic nervous system or be secondary to a wide range of diseases that cause severe morbidity and mortality. Together with a detailed history and physical examination, laboratory assessment of autonomic function is essential for the analysis of various clinical conditions and the establishment of effective, personalized and precise therapeutic schemes. This review summarizes the main aspects of autonomic medicine that constitute the background of cardiovascular autonomic dysfunction. Copyright © 2017 Sociedade Portuguesa de Cardiologia. Publicado por Elsevier España, S.L.U. All rights reserved.

THE STUDY OF THE AUTONOMOUS SYNCHRONOUS GENERATOR MODES

Directory of Open Access Journals (Sweden)

V. S. Safaryan

2017-01-01

Full Text Available The importance of the problem of the static stability of the stationary mode of the power system for its operation is extremely high. The investigation of the static stability of the power system is a subject of a number of works, but the problems of static stability of the stationary points of an autonomous synchronous generator are given little attention. The article considers transient and resonant (stationary modes of the generator under active-inductive and active-capacitive loads. Mathematical model of transients in a natural form and in the coordinate system d, q are plotted. It is discovered that the mathematical model of the transition process of an autonomous synchronous generator is identical to the mathematical model of the transition process of the synchronous machine under three-phase short circuit. Electromagnetic transients of an autonomous synchronous generator are described by a system of linear autonomous differential equations with constant coefficients. However, the equivalent circuit of a generator contains dependent sources. We investigated the stability of stationary motion of an autonomous synchronous generator at a given angular velocity of rotation of the rotor. The condition for the existence and stability of stationary points of an autonomous synchronous generator is derived. The condition for the existence of stationary points of such a generator does not depend on the active load resistance and stator windings, and inductance of the rotor. The determining of stationary points of the generator is reduced to finding roots of a polynomial of the fourth degree. The graphs of electromagnetic torque dependencies on the angular velocity of rotation of the rotor (mechanical characteristics are plotted. The equivalent circuits, corresponding to the equations of the transition process of an autonomous synchronous generator, are featured as well.

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 ...

Escalator: An Autonomous Scheduling Scheme for Convergecast in TSCH

Directory of Open Access Journals (Sweden)

Sukho Oh

2018-04-01

Full Text Available Time Slotted Channel Hopping (TSCH is widely used in the industrial wireless sensor networks due to its high reliability and energy efficiency. Various timeslot and channel scheduling schemes have been proposed for achieving high reliability and energy efficiency for TSCH networks. Recently proposed autonomous scheduling schemes provide flexible timeslot scheduling based on the routing topology, but do not take into account the network traffic and packet forwarding delays. In this paper, we propose an autonomous scheduling scheme for convergecast in TSCH networks with RPL as a routing protocol, named Escalator. Escalator generates a consecutive timeslot schedule along the packet forwarding path to minimize the packet transmission delay. The schedule is generated autonomously by utilizing only the local routing topology information without any additional signaling with other nodes. The generated schedule is guaranteed to be conflict-free, in that all nodes in the network could transmit packets to the sink in every slotframe cycle. We implement Escalator and evaluate its performance with existing autonomous scheduling schemes through a testbed and simulation. Experimental results show that the proposed Escalator has lower end-to-end delay and higher packet delivery ratio compared to the existing schemes regardless of the network topology.

Autonomous Laser-Powered Vehicle

Science.gov (United States)

Stone, William C. (Inventor); Hogan, Bartholomew P. (Inventor)

2017-01-01

An autonomous laser-powered vehicle designed to autonomously penetrate through ice caps of substantial (e.g., kilometers) thickness by melting a path ahead of the vehicle as it descends. A high powered laser beam is transmitted to the vehicle via an onboard bare fiber spooler. After the beam enters through the dispersion optics, the beam expands into a cavity. A radiation shield limits backscatter radiation from heating the optics. The expanded beam enters the heat exchanger and is reflected by a dispersion mirror. Forward-facing beveled circular grooves absorb the reflected radiant energy preventing the energy from being reflected back towards the optics. Microchannels along the inner circumference of the beam dump heat exchanger maximize heat transfer. Sufficient amount of fiber is wound on the fiber spooler to permit not only a descent but also to permit a sample return mission by inverting the vehicle and melting its way back to the surface.

The effect of pattern overlap on the accuracy of high resolution electron backscatter diffraction measurements

Energy Technology Data Exchange (ETDEWEB)

Tong, Vivian, E-mail: v.tong13@imperial.ac.uk [Department of Materials, Imperial College London, Prince Consort Road, London SW7 2AZ (United Kingdom); Jiang, Jun [Department of Materials, Imperial College London, Prince Consort Road, London SW7 2AZ (United Kingdom); Wilkinson, Angus J. [Department of Materials, University of Oxford, Parks Road, Oxford OX1 3PH (United Kingdom); Britton, T. Ben [Department of Materials, Imperial College London, Prince Consort Road, London SW7 2AZ (United Kingdom)

2015-08-15

High resolution, cross-correlation-based, electron backscatter diffraction (EBSD) measures the variation of elastic strains and lattice rotations from a reference state. Regions near grain boundaries are often of interest but overlap of patterns from the two grains could reduce accuracy of the cross-correlation analysis. To explore this concern, patterns from the interior of two grains have been mixed to simulate the interaction volume crossing a grain boundary so that the effect on the accuracy of the cross correlation results can be tested. It was found that the accuracy of HR-EBSD strain measurements performed in a FEG-SEM on zirconium remains good until the incident beam is less than 18 nm from a grain boundary. A simulated microstructure was used to measure how often pattern overlap occurs at any given EBSD step size, and a simple relation was found linking the probability of overlap with step size. - Highlights: • Pattern overlap occurs at grain boundaries and reduces HR-EBSD accuracy. • A test is devised to measure the accuracy of HR-EBSD in the presence of overlap. • High pass filters can sometimes, but not generally, improve HR-EBSD measurements. • Accuracy of HR-EBSD remains high until the reference pattern intensity is <72%. • 9% of points near a grain boundary will have significant error for 200nm step size in Zircaloy-4.

Autonomous authority in relation to the staff regulations of autonomous parliaments

Directory of Open Access Journals (Sweden)

Rafael Cano Silva

2018-04-01

Full Text Available The statutes of Autonomous Parliaments are parliamentary administrative norms approved by each legislative chamber by virtue of their parliamentary autonomy. However, the parliamentary autonomy of each autonomous parliament does not have the same normative aspect for these purposes. It is studied in this article as despite having the Constitution as a common element, it is essential the special attribution that each autonomous chamber has and that the jurisprudence, both of the Constitutional Court, and that of the Supreme Court, has put in value, question that is included in the section related to the jurisprudence. In conclusion, the bureaucratic organization, in what refers to personal media, may be substantially different in each one of the legislative assemblies, as analyzed in the conclusions of this study.

Read-only high accuracy volume holographic optical correlator

Science.gov (United States)

Zhao, Tian; Li, Jingming; Cao, Liangcai; He, Qingsheng; Jin, Guofan

2011-10-01

A read-only volume holographic correlator (VHC) is proposed. After the recording of all of the correlation database pages by angular multiplexing, a stand-alone read-only high accuracy VHC will be separated from the VHC recording facilities which include the high-power laser and the angular multiplexing system. The stand-alone VHC has its own low power readout laser and very compact and simple structure. Since there are two lasers that are employed for recording and readout, respectively, the optical alignment tolerance of the laser illumination on the SLM is very sensitive. The twodimensional angular tolerance is analyzed based on the theoretical model of the volume holographic correlator. The experimental demonstration of the proposed read-only VHC is introduced and discussed.

Optimization of eyesafe avalanche photodiode lidar for automobile safety and autonomous navigation systems

Science.gov (United States)

Williams, George M.

2017-03-01

Newly emerging accident-reducing, driver-assistance, and autonomous-navigation technology for automobiles is based on real-time three-dimensional mapping and object detection, tracking, and classification using lidar sensors. Yet, the lack of lidar sensors suitable for meeting application requirements appreciably limits practical widespread use of lidar in trucking, public livery, consumer cars, and fleet automobiles. To address this need, a system-engineering perspective to eyesafe lidar-system design for high-level advanced driver-assistance sensor systems and a design trade study including 1.5-μm spot-scanned, line-scanned, and flash-lidar systems are presented. A cost-effective lidar instrument design is then proposed based on high-repetition-rate diode-pumped solid-state lasers and high-gain, low-excess-noise InGaAs avalanche photodiode receivers and focal plane arrays. Using probabilistic receiver-operating-characteristic analysis, derived from measured component performance, a compact lidar system is proposed that is capable of 220 m ranging with 5-cm accuracy, which can be readily scaled to a 360-deg field of regard.

Optical System Error Analysis and Calibration Method of High-Accuracy Star Trackers

Directory of Open Access Journals (Sweden)

Zheng You

2013-04-01

Full Text Available The star tracker is a high-accuracy attitude measurement device widely used in spacecraft. Its performance depends largely on the precision of the optical system parameters. Therefore, the analysis of the optical system parameter errors and a precise calibration model are crucial to the accuracy of the star tracker. Research in this field is relatively lacking a systematic and universal analysis up to now. This paper proposes in detail an approach for the synthetic error analysis of the star tracker, without the complicated theoretical derivation. This approach can determine the error propagation relationship of the star tracker, and can build intuitively and systematically an error model. The analysis results can be used as a foundation and a guide for the optical design, calibration, and compensation of the star tracker. A calibration experiment is designed and conducted. Excellent calibration results are achieved based on the calibration model. To summarize, the error analysis approach and the calibration method are proved to be adequate and precise, and could provide an important guarantee for the design, manufacture, and measurement of high-accuracy star trackers.

Optical system error analysis and calibration method of high-accuracy star trackers.

Science.gov (United States)

Sun, Ting; Xing, Fei; You, Zheng

2013-04-08

The star tracker is a high-accuracy attitude measurement device widely used in spacecraft. Its performance depends largely on the precision of the optical system parameters. Therefore, the analysis of the optical system parameter errors and a precise calibration model are crucial to the accuracy of the star tracker. Research in this field is relatively lacking a systematic and universal analysis up to now. This paper proposes in detail an approach for the synthetic error analysis of the star tracker, without the complicated theoretical derivation. This approach can determine the error propagation relationship of the star tracker, and can build intuitively and systematically an error model. The analysis results can be used as a foundation and a guide for the optical design, calibration, and compensation of the star tracker. A calibration experiment is designed and conducted. Excellent calibration results are achieved based on the calibration model. To summarize, the error analysis approach and the calibration method are proved to be adequate and precise, and could provide an important guarantee for the design, manufacture, and measurement of high-accuracy star trackers.

Sensing and control for autonomous vehicles applications to land, water and air vehicles

CERN Document Server

Pettersen, Kristin; Nijmeijer, Henk

2017-01-01

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite sy...

Innovative Fiber-Optic Gyroscopes (FOGs) for High Accuracy Space Applications, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — NASA's future science and exploratory missions will require much lighter, smaller, and longer life rate sensors that can provide high accuracy navigational...

Formal Verification of Autonomous Vehicle Platooning

OpenAIRE

Kamali, Maryam; Dennis, Louise A.; McAree, Owen; Fisher, Michael; Veres, Sandor M.

2016-01-01

The coordination of multiple autonomous vehicles into convoys or platoons is expected on our highways in the near future. However, before such platoons can be deployed, the new autonomous behaviors of the vehicles in these platoons must be certified. An appropriate representation for vehicle platooning is as a multi-agent system in which each agent captures the "autonomous decisions" carried out by each vehicle. In order to ensure that these autonomous decision-making agents in vehicle platoo...

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.

Spatial Region Estimation for Autonomous CoT Clustering Using Hidden Markov Model

Directory of Open Access Journals (Sweden)

Joon‐young Jung

2018-02-01

Full Text Available This paper proposes a hierarchical dual filtering (HDF algorithm to estimate the spatial region between a Cloud of Things (CoT gateway and an Internet of Things (IoT device. The accuracy of the spatial region estimation is important for autonomous CoT clustering. We conduct spatial region estimation using a hidden Markov model (HMM with a raw Bluetooth received signal strength indicator (RSSI. However, the accuracy of the region estimation using the validation data is only 53.8%. To increase the accuracy of the spatial region estimation, the HDF algorithm removes the high‐frequency signals hierarchically, and alters the parameters according to whether the IoT device moves. The accuracy of spatial region estimation using a raw RSSI, Kalman filter, and HDF are compared to evaluate the effectiveness of the HDF algorithm. The success rate and root mean square error (RMSE of all regions are 0.538, 0.622, and 0.75, and 0.997, 0.812, and 0.5 when raw RSSI, a Kalman filter, and HDF are used, respectively. The HDF algorithm attains the best results in terms of the success rate and RMSE of spatial region estimation using HMM.

Autonomic Function Impairment and Brain Perfusion Deficit in Parkinson’s Disease

Directory of Open Access Journals (Sweden)

Wei-Che Lin

2017-06-01

Full Text Available IntroductionAutonomic disorders have been recognized as important Parkinson’s disease (PD components. Some vulnerable structures are related to the central autonomic network and have also been linked to autonomic function alterations. The aims of the study are to evaluate the severity of the autonomic dysfunction and the cortical hypoperfusion using arterial spin labeling (ASL MRI. And then, possible relationships of significant between-group differences in perfusion pattern to clinical variables and autonomic functions were examined to determine the pharmaceutical effects of dopaminergic treatment on cerebral blood flow (CBF in patients with PD.MethodsBrain ASL MRI was carried out in 20 patients with PD (6 men and 14 women, mean age: 63.3 ± 6.4 years and 22 sex- and age-matched healthy volunteers to assess whole-brain CBF and the effects of dopaminergic therapy on perfusion. All subjects underwent a standardized evaluation of cardiovagal and adrenergic function including a deep breathing, Valsalva maneuver, and 5-min head-up tilt test. Perfusion MRI data were acquired on a 3.0 T scanner with a pulsed continuous ASL technique. The CBF, autonomic parameters, and clinical data were analyzed after adjusting for age and sex.ResultsPatients exhibited a decline in autonomic function (rapid heart rate in response to deep breathing, low baroreflex sensitivity, high systolic and diastolic pressure, and altered tilting test response, widespread low CBF, and robust response to dopaminergic therapy. Lower perfusion in the middle frontal gyrus was associated with increased clinical disease severity (Unified Parkinson’s Disease Rating Scale I score, P < 0.001. Lower perfusion in autonomic control areas, such as the frontal lobe and insula, were significantly associated with autonomic impairment (P < 0.001.ConclusionsOur study indicates that PD is a progressive neurodegenerative disorder that changes the perfusion of central nervous system

Objective speckle velocimetry for autonomous vehicle odometry.

Science.gov (United States)

Francis, D; Charrett, T O H; Waugh, L; Tatam, R P

2012-06-01

Speckle velocimetry is investigated as a means of determining odometry data with potential for application on autonomous robotic vehicles. The technique described here relies on the integration of translation measurements made by normalized cross-correlation of speckle patterns to determine the change in position over time. The use of objective (non-imaged) speckle offers a number of advantages over subjective (imaged) speckle, such as a reduction in the number of optical components, reduced modulation of speckles at the edges of the image, and improved light efficiency. The influence of the source/detector configuration on the speckle translation to vehicle translation scaling factor for objective speckle is investigated using a computer model and verified experimentally. Experimental measurements are presented at velocities up to 80  mm s(-1) which show accuracy better than 0.4%.

MUSCLE: multiple sequence alignment with high accuracy and high throughput.

Science.gov (United States)

Edgar, Robert C

2004-01-01

We describe MUSCLE, a new computer program for creating multiple alignments of protein sequences. Elements of the algorithm include fast distance estimation using kmer counting, progressive alignment using a new profile function we call the log-expectation score, and refinement using tree-dependent restricted partitioning. The speed and accuracy of MUSCLE are compared with T-Coffee, MAFFT and CLUSTALW on four test sets of reference alignments: BAliBASE, SABmark, SMART and a new benchmark, PREFAB. MUSCLE achieves the highest, or joint highest, rank in accuracy on each of these sets. Without refinement, MUSCLE achieves average accuracy statistically indistinguishable from T-Coffee and MAFFT, and is the fastest of the tested methods for large numbers of sequences, aligning 5000 sequences of average length 350 in 7 min on a current desktop computer. The MUSCLE program, source code and PREFAB test data are freely available at http://www.drive5. com/muscle.

High Accuracy Evaluation of the Finite Fourier Transform Using Sampled Data

Science.gov (United States)

Morelli, Eugene A.

1997-01-01

Many system identification and signal processing procedures can be done advantageously in the frequency domain. A required preliminary step for this approach is the transformation of sampled time domain data into the frequency domain. The analytical tool used for this transformation is the finite Fourier transform. Inaccuracy in the transformation can degrade system identification and signal processing results. This work presents a method for evaluating the finite Fourier transform using cubic interpolation of sampled time domain data for high accuracy, and the chirp Zeta-transform for arbitrary frequency resolution. The accuracy of the technique is demonstrated in example cases where the transformation can be evaluated analytically. Arbitrary frequency resolution is shown to be important for capturing details of the data in the frequency domain. The technique is demonstrated using flight test data from a longitudinal maneuver of the F-18 High Alpha Research Vehicle.

Sex differences in autonomic function following maximal exercise.

Science.gov (United States)

Kappus, Rebecca M; Ranadive, Sushant M; Yan, Huimin; Lane-Cordova, Abbi D; Cook, Marc D; Sun, Peng; Harvey, I Shevon; Wilund, Kenneth R; Woods, Jeffrey A; Fernhall, Bo

2015-01-01

Heart rate variability (HRV), blood pressure variability, (BPV) and heart rate recovery (HRR) are measures that provide insight regarding autonomic function. Maximal exercise can affect autonomic function, and it is unknown if there are sex differences in autonomic recovery following exercise. Therefore, the purpose of this study was to determine sex differences in several measures of autonomic function and the response following maximal exercise. Seventy-one (31 males and 40 females) healthy, nonsmoking, sedentary normotensive subjects between the ages of 18 and 35 underwent measurements of HRV and BPV at rest and following a maximal exercise bout. HRR was measured at minute one and two following maximal exercise. Males have significantly greater HRR following maximal exercise at both minute one and two; however, the significance between sexes was eliminated when controlling for VO2 peak. Males had significantly higher resting BPV-low-frequency (LF) values compared to females and did not significantly change following exercise, whereas females had significantly increased BPV-LF values following acute maximal exercise. Although males and females exhibited a significant decrease in both HRV-LF and HRV-high frequency (HF) with exercise, females had significantly higher HRV-HF values following exercise. Males had a significantly higher HRV-LF/HF ratio at rest; however, both males and females significantly increased their HRV-LF/HF ratio following exercise. Pre-menopausal females exhibit a cardioprotective autonomic profile compared to age-matched males due to lower resting sympathetic activity and faster vagal reactivation following maximal exercise. Acute maximal exercise is a sufficient autonomic stressor to demonstrate sex differences in the critical post-exercise recovery period.

Autonomic Neuropathy in Diabetes Mellitus

OpenAIRE

Verrotti, Alberto; Prezioso, Giovanni; Scattoni, Raffaella; Chiarelli, Francesco

2014-01-01

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 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 ...

High accuracy interface characterization of three phase material systems in three dimensions

DEFF Research Database (Denmark)

Jørgensen, Peter Stanley; Hansen, Karin Vels; Larsen, Rasmus

2010-01-01

Quantification of interface properties such as two phase boundary area and triple phase boundary length is important in the characterization ofmanymaterial microstructures, in particular for solid oxide fuel cell electrodes. Three-dimensional images of these microstructures can be obtained...... by tomography schemes such as focused ion beam serial sectioning or micro-computed tomography. We present a high accuracy method of calculating two phase surface areas and triple phase length of triple phase systems from subvoxel accuracy segmentations of constituent phases. The method performs a three phase...... polygonization of the interface boundaries which results in a non-manifold mesh of connected faces. We show how the triple phase boundaries can be extracted as connected curve loops without branches. The accuracy of the method is analyzed by calculations on geometrical primitives...

Autonomic nervous system activity in purebred Arabian horses evaluated according to the low frequency and high frequency spectrum versus racing performance

Directory of Open Access Journals (Sweden)

Iwona Janczarek

2016-01-01

Full Text Available Emotional excitability influences horses’ performance in sports and races. The aim of the study was to analyse whether the balance of the autonomic system which can occur when sympathetic system activity is at various levels might impact the horses’ racing performance. The study was carried out on 67 purebred Arabian horses trained for racing. The following indices were analysed: low frequency (LF, high frequency (HF, and the ratio of spectrum power at low frequencies to high frequencies (LF/HF. The autonomic nervous system activity was measured × 3 during the training season, at three-month intervals. Each examination included a 30-min measurement at rest and after a training session. The racing performance indices in these horses were also analysed. Better racing results were found in horses with enhanced LF/HF. The worst racing results were determined in horses with low LF.

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

Discerning non-autonomous dynamics

International Nuclear Information System (INIS)

Clemson, Philip T.; Stefanovska, Aneta

2014-01-01

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

Structural Discrimination and Autonomous Vehicles

DEFF Research Database (Denmark)

Liu, Hin-Yan

2016-01-01

This paper examines the potential for structural discrimination to be woven into the fabric of autonomous vehicle developments, which remain underexplored and undiscussed. The prospect for structural discrimination arises as a result of the coordinated modes of autonomous vehicle behaviour...... individual identity, and potentially relative worth, to autonomous vehicles engaging in a crash damage calculus. At the risk of introducing these ideas into the development of autonomous vehicles, this paper hopes to spark a debate to foreclose these eventualities....... that is prescribed by its code. This leads to the potential for individuated outcomes to be networked and thereby multiplied consistently to any number of vehicles implementing such a code. The aggregated effects of such algorithmic policy preferences will thus cumulate in the reallocation of benefits and burdens...

Decentralized Control of Autonomous Vehicles

Science.gov (United States)

2003-01-01

Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

Public Health, Ethics, and Autonomous Vehicles.

Science.gov (United States)

Fleetwood, Janet

2017-04-01

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

Serial pathways from primate prefrontal cortex to autonomic areas may influence emotional expression

Directory of Open Access Journals (Sweden)

Saha Subhash

2003-10-01

Full Text Available Abstract Background Experiencing emotions engages high-order orbitofrontal and medial prefrontal areas, and expressing emotions involves low-level autonomic structures and peripheral organs. How is information from the cortex transmitted to the periphery? We used two parallel approaches to map simultaneously multiple pathways to determine if hypothalamic autonomic centres are a key link for orbitofrontal areas and medial prefrontal areas, which have been associated with emotional processes, as well as low-level spinal and brainstem autonomic structures. The latter innervate peripheral autonomic organs, whose activity is markedly increased during emotional arousal. Results We first determined if pathways linking the orbitofrontal cortex with the hypothalamus overlapped with projection neurons directed to the intermediolateral column of the spinal cord, with the aid of neural tracers injected in these disparate structures. We found that axons from orbitofrontal and medial prefrontal cortices converged in the hypothalamus with neurons projecting to brainstem and spinal autonomic centers, linking the highest with the lowest levels of the neuraxis. Using a parallel approach, we injected bidirectional tracers in the lateral hypothalamic area, an autonomic center, to label simultaneously cortical pathways leading to the hypothalamus, as well as hypothalamic axons projecting to low-level brainstem and spinal autonomic centers. We found densely distributed projection neurons in medial prefrontal and orbitofrontal cortices leading to the hypothalamus, as well as hypothalamic axonal terminations in several brainstem structures and the intermediolateral column of the spinal cord, which innervate peripheral autonomic organs. We then provided direct evidence that axons from medial prefrontal cortex synapse with hypothalamic neurons, terminating as large boutons, comparable in size to the highly efficient thalamocortical system. The interlinked orbitofrontal

PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking

Directory of Open Access Journals (Sweden)

Zhigang Xu

2017-01-01

Full Text Available With the advent of autonomous vehicles, in particular its adaptability to harsh conditions, the research and development of autonomous vehicles attract significant attention by not only academia but also practitioners. Due to the high risk, high cost, and difficulty to test autonomous vehicles under harsh conditions, the hardware-in-the-loop (HIL scaled platform has been proposed as it is a safe, inexpensive, and effective test method. This platform system consists of scaled autonomous vehicle, scaled roadway, monitoring center, transmission device, positioning device, and computers. This paper uses a case of the development process of tracking control for high-speed U-turn to build the tracking control function. Further, a simplified vehicle dynamics model and a trajectory tracking algorithm have been considered to build the simulation test. The experiment results demonstrate the effectiveness of the HIL scaled platform.

Reliability of Autonomic Responses and Malaise Across Multiple Motion Sickness Stimulation Tests

Science.gov (United States)

Stout, Cynthia S.; Toscano, William B.; Cowings, Patricia S.

1993-01-01

There is general agreement that a high degree of variability exists between subjects in their autonomic nervous system responses to motion sickness stimulation. Additionally, a paucity of data exists that examines the variability within an individual across repeated motion sickness tests. Investigators have also examined the relationship of autonomic responses to motion sickness development. These investigations have used analyses at discrete points in time to describe this relationship. This approach fails to address the time course of autonomic responses and malaise development throughout the motion sickness test. Our objectives were to examine the reliability of autonomic responses and malaise using the final minute of the motion sickness test across five testing occasions, to examine the reliability of the change in autonomic responses and the change in malaise across five testing occasions, and to examine the relationship between changes in autonomic responses and changes in malaise level across the entire motion sickness test. Our results indicate that, based on the final minute of testing, the autonomic responses of heart rate, blood volume pulse, and respiration rate are moderately stable across multiple tests. Changes in heart rate, blood volume pulse, respiration rate, and malaise throughout the test duration were less stable across the tests. We attribute this instability to variations in individual susceptibility and the error associated with estimating a measure of autonomic gain.

Shuttlecock detection system for fully-autonomous badminton robot with two high-speed video cameras

Science.gov (United States)

Masunari, T.; Yamagami, K.; Mizuno, M.; Une, S.; Uotani, M.; Kanematsu, T.; Demachi, K.; Sano, S.; Nakamura, Y.; Suzuki, S.

2017-02-01

Two high-speed video cameras are successfully used to detect the motion of a flying shuttlecock of badminton. The shuttlecock detection system is applied to badminton robots that play badminton fully autonomously. The detection system measures the three dimensional position and velocity of a flying shuttlecock, and predicts the position where the shuttlecock falls to the ground. The badminton robot moves quickly to the position where the shuttle-cock falls to, and hits the shuttlecock back into the opponent's side of the court. In the game of badminton, there is a large audience, and some of them move behind a flying shuttlecock, which are a kind of background noise and makes it difficult to detect the motion of the shuttlecock. The present study demonstrates that such noises can be eliminated by the method of stereo imaging with two high-speed cameras.

A Smart High Accuracy Silicon Piezoresistive Pressure Sensor Temperature Compensation System

Directory of Open Access Journals (Sweden)

Guanwu Zhou

2014-07-01

Full Text Available Theoretical analysis in this paper indicates that the accuracy of a silicon piezoresistive pressure sensor is mainly affected by thermal drift, and varies nonlinearly with the temperature. Here, a smart temperature compensation system to reduce its effect on accuracy is proposed. Firstly, an effective conditioning circuit for signal processing and data acquisition is designed. The hardware to implement the system is fabricated. Then, a program is developed on LabVIEW which incorporates an extreme learning machine (ELM as the calibration algorithm for the pressure drift. The implementation of the algorithm was ported to a micro-control unit (MCU after calibration in the computer. Practical pressure measurement experiments are carried out to verify the system’s performance. The temperature compensation is solved in the interval from −40 to 85 °C. The compensated sensor is aimed at providing pressure measurement in oil-gas pipelines. Compared with other algorithms, ELM acquires higher accuracy and is more suitable for batch compensation because of its higher generalization and faster learning speed. The accuracy, linearity, zero temperature coefficient and sensitivity temperature coefficient of the tested sensor are 2.57% FS, 2.49% FS, 8.1 × 10−5/°C and 29.5 × 10−5/°C before compensation, and are improved to 0.13%FS, 0.15%FS, 1.17 × 10−5/°C and 2.1 × 10−5/°C respectively, after compensation. The experimental results demonstrate that the proposed system is valid for the temperature compensation and high accuracy requirement of the sensor.

Cardiac autonomic testing and treating heart disease. 'A clinical perspective'

Directory of Open Access Journals (Sweden)

Nicholas L. DePace

2014-12-01

Full Text Available Background Coronary heart disease (CHD is a major health concern, affecting nearly half the middle-age population and responsible for nearly one-third of all deaths. Clinicians have several major responsibilities beyond diagnosing CHD, such as risk stratification of patients for major adverse cardiac events (MACE and treating risks, as well as the patient. This second of a two-part review series discusses treating risk factors, including autonomic dysfunction, and expected outcomes. Methods Therapies for treating cardiac mortality risks including cardiovascular autonomic neuropathy (CAN, are discussed. Results While risk factors effectively target high-risk patients, a large number of individuals who will develop complications from heart disease are not identified by current scoring systems. Many patients with heart conditions, who appear to be well-managed by traditional therapies, experience MACE. Parasympathetic and Sympathetic (P&S function testing provides more information and has the potential to further aid doctors in individualizing and titrating therapy to minimize risk. Advanced autonomic dysfunction (AAD and its more severe form cardiovascular autonomic neuropathy have been strongly associated with an elevated risk of cardiac mortality and are diagnosable through autonomic testing. This additional information includes patient-specific physiologic measures, such as sympathovagal balance (SB. Studies have shown that establishing and maintaining proper SB minimizes morbidity and mortality risk. Conclusions P&S testing promotes primary prevention, treating subclinical disease states, as well as secondary prevention, thereby improving patient outcomes through (1 maintaining wellness, (2 preventing symptoms and disorder and (3 treating subclinical manifestations (autonomic dysfunction, as well as (4 disease and symptoms (autonomic neuropathy.

Autonomous Collision-Free Navigation of Microvehicles in Complex and Dynamically Changing Environments.

Science.gov (United States)

Li, Tianlong; Chang, Xiaocong; Wu, Zhiguang; Li, Jinxing; Shao, Guangbin; Deng, Xinghong; Qiu, Jianbin; Guo, Bin; Zhang, Guangyu; He, Qiang; Li, Longqiu; Wang, Joseph

2017-09-26

Self-propelled micro- and nanoscale robots represent a rapidly emerging and fascinating robotics research area. However, designing autonomous and adaptive control systems for operating micro/nanorobotics in complex and dynamically changing environments, which is a highly demanding feature, is still an unmet challenge. Here we describe a smart microvehicle for precise autonomous navigation in complicated environments and traffic scenarios. The fully autonomous navigation system of the smart microvehicle is composed of a microscope-coupled CCD camera, an artificial intelligence planner, and a magnetic field generator. The microscope-coupled CCD camera provides real-time localization of the chemically powered Janus microsphere vehicle and environmental detection for path planning to generate optimal collision-free routes, while the moving direction of the microrobot toward a reference position is determined by the external electromagnetic torque. Real-time object detection offers adaptive path planning in response to dynamically changing environments. We demonstrate that the autonomous navigation system can guide the vehicle movement in complex patterns, in the presence of dynamically changing obstacles, and in complex biological environments. Such a navigation system for micro/nanoscale vehicles, relying on vision-based close-loop control and path planning, is highly promising for their autonomous operation in complex dynamic settings and unpredictable scenarios expected in a variety of realistic nanoscale scenarios.

Simulating autonomous driving styles: Accelerations for three road profiles

Directory of Open Access Journals (Sweden)

Karjanto Juffrizal

2017-01-01

Full Text Available This paper presents a new experimental approach to simulate projected autonomous driving styles based on the accelerations at three road profiles. This study was focused on the determination of ranges of accelerations in triaxial direction to simulate the autonomous driving experience. A special device, known as the Automatic Acceleration and Data controller (AUTOAccD, has been developed to guide the designated driver to accomplish the selected accelerations based on the road profiles and the intended driving styles namely assertive, defensive and light rail transit (LRT. Experimental investigations have been carried out at three different road profiles (junction, speed hump, and corner with two designated drivers with five trials on each condition. A driving style with the accelerations of LRT has also been included in this study as it is significant to the present methodology because the autonomous car is predicted to accelerate like an LRT, in such a way that it enables the users to conduct activities such as working on a laptop, using personal devices or eating and drinking while travelling. The results demonstrated that 92 out of 110 trials of the intended accelerations for autonomous driving styles could be achieved and simulated on the real road by the designated drivers. The differences between the two designated drivers were negligible, and the rates of succeeding in realizing the intended accelerations were high. The present approach in simulating autonomous driving styles focusing on accelerations can be used as a tool for experimental setup involving autonomous driving experience and acceptance.

Vision Based Navigation for Autonomous Cooperative Docking of CubeSats

Science.gov (United States)

Pirat, Camille; Ankersen, Finn; Walker, Roger; Gass, Volker

2018-05-01

A realistic rendezvous and docking navigation solution applicable to CubeSats is investigated. The scalability analysis of the ESA Autonomous Transfer Vehicle Guidance, Navigation & Control (GNC) performances and the Russian docking system, shows that the docking of two CubeSats would require a lateral control performance of the order of 1 cm. Line of sight constraints and multipath effects affecting Global Navigation Satellite System (GNSS) measurements in close proximity prevent the use of this sensor for the final approach. This consideration and the high control accuracy requirement led to the use of vision sensors for the final 10 m of the rendezvous and docking sequence. A single monocular camera on the chaser satellite and various sets of Light-Emitting Diodes (LEDs) on the target vehicle ensure the observability of the system throughout the approach trajectory. The simple and novel formulation of the measurement equations allows differentiating unambiguously rotations from translations between the target and chaser docking port and allows a navigation performance better than 1 mm at docking. Furthermore, the non-linear measurement equations can be solved in order to provide an analytic navigation solution. This solution can be used to monitor the navigation filter solution and ensure its stability, adding an extra layer of robustness for autonomous rendezvous and docking. The navigation filter initialization is addressed in detail. The proposed method is able to differentiate LEDs signals from Sun reflections as demonstrated by experimental data. The navigation filter uses a comprehensive linearised coupled rotation/translation dynamics, describing the chaser to target docking port motion. The handover, between GNSS and vision sensor measurements, is assessed. The performances of the navigation function along the approach trajectory is discussed.

Pilot In Command: A Feasibility Assessment of Autonomous Flight Management Operations

Science.gov (United States)

Wing, David J.; Ballin, Mark G.; Krishnamurthy, Karthik

2004-01-01

Several years of NASA research have produced the air traffic management operational concept of Autonomous Flight Management with high potential for operational feasibility, significant system and user benefits, and safety. Among the chief potential benefits are demand-adaptive or scalable capacity, user flexibility and autonomy that may finally enable truly successful business strategies, and compatibility with current-day operations such that the implementation rate can be driven from within the user community. A concept summary of Autonomous Flight Management is provided, including a description of how these operations would integrate in shared airspace with existing ground-controlled flight operations. The mechanisms enabling the primary benefits are discussed, and key findings of a feasibility assessment of airborne autonomous operations are summarized. Concept characteristics that impact safety are presented, and the potential for initially implementing Autonomous Flight Management is discussed.

A 41-year-old man with polyarthritis and severe autonomic neuropathy

Directory of Open Access Journals (Sweden)

Matthew E Bourcier

2008-09-01

Full Text Available Matthew E Bourcier, Aaron I VinikEastern Virginia Medical School, Norfolk, VA, USAAbstract: Orthostasis due to autonomic neuropathy can cause severe debilitation and prove refractory to treatment. This report describes a case of severe sympathetic and parasympathetic autonomic dysfunction as a consequence of acetylcholine receptor antibodies and Sjogren’s syndrome. Symptomatic management, plasma fluid expanders, and IVIG therapy failed to offer a salutary response to the condition. Etanercept therapy provided improvement of the orthostasis and autonomic function measured as high and low frequency respiratory effects on heart rate variability as well as enhancement of skin blood flow using Laser Doppler. It would be of considerable interest to determine the effectiveness of etanercept in other autoimmune neuropathies.Keywords: autonomic neuropathy, etanercept, IntraEpidermal Nerve Fibers (IENF, acetylcholine receptor antibodies, laser doppler skin blood flow, orthostasis

Ultra-high accuracy optical testing: creating diffraction-limitedshort-wavelength optical systems

Energy Technology Data Exchange (ETDEWEB)

Goldberg, Kenneth A.; Naulleau, Patrick P.; Rekawa, Senajith B.; Denham, Paul E.; Liddle, J. Alexander; Gullikson, Eric M.; Jackson, KeithH.; Anderson, Erik H.; Taylor, John S.; Sommargren, Gary E.; Chapman,Henry N.; Phillion, Donald W.; Johnson, Michael; Barty, Anton; Soufli,Regina; Spiller, Eberhard A.; Walton, Christopher C.; Bajt, Sasa

2005-08-03

Since 1993, research in the fabrication of extreme ultraviolet (EUV) optical imaging systems, conducted at Lawrence Berkeley National Laboratory (LBNL) and Lawrence Livermore National Laboratory (LLNL), has produced the highest resolution optical systems ever made. We have pioneered the development of ultra-high-accuracy optical testing and alignment methods, working at extreme ultraviolet wavelengths, and pushing wavefront-measuring interferometry into the 2-20-nm wavelength range (60-600 eV). These coherent measurement techniques, including lateral shearing interferometry and phase-shifting point-diffraction interferometry (PS/PDI) have achieved RMS wavefront measurement accuracies of 0.5-1-{angstrom} and better for primary aberration terms, enabling the creation of diffraction-limited EUV optics. The measurement accuracy is established using careful null-testing procedures, and has been verified repeatedly through high-resolution imaging. We believe these methods are broadly applicable to the advancement of short-wavelength optical systems including space telescopes, microscope objectives, projection lenses, synchrotron beamline optics, diffractive and holographic optics, and more. Measurements have been performed on a tunable undulator beamline at LBNL's Advanced Light Source (ALS), optimized for high coherent flux; although many of these techniques should be adaptable to alternative ultraviolet, EUV, and soft x-ray light sources. To date, we have measured nine prototype all-reflective EUV optical systems with NA values between 0.08 and 0.30 (f/6.25 to f/1.67). These projection-imaging lenses were created for the semiconductor industry's advanced research in EUV photolithography, a technology slated for introduction in 2009-13. This paper reviews the methods used and our program's accomplishments to date.

Autonomous aerobraking for low-cost interplanetary missions

Science.gov (United States)

Carrelli, David; O'Shaughnessy, Daniel; Strikwerda, Thomas; Kaidy, James; Prince, Jill; Powell, Richard

2014-01-01

Aerobraking has previously been used to reduce the propellant required to deliver an orbiter to its desired final orbit. In principle, aerobraking should be possible around any target planet or moon having sufficient atmosphere to permit atmospheric drag to provide a portion of the mission ΔV, in lieu of supplying all of the required ΔV propulsively. The spacecraft is flown through the upper atmosphere of the target using multiple passes, ensuring that the dynamic pressure and thermal loads remain within the spacecraft's design parameters. NASA has successfully conducted aerobraking operations four times, once at Venus and three times at Mars. While aerobraking reduces the fuel required, it does so at the expense of time (typically 3-6 months), continuous Deep Space Network (DSN) coverage, and a large ground staff. These factors can result in aerobraking being a very expensive operational phase of the mission. However, aerobraking has matured to the point that much of the daily operation could potentially be performed autonomously onboard the spacecraft, thereby reducing the required ground support and attendant aerobraking related costs. To facilitate a lower-risk transition from ground processing to an autonomous capability, the NASA Engineering and Safety Center (NESC) has assembled a team of experts in aerobraking and interplanetary guidance and control to develop a high-fidelity, flight-like simulation. This simulation will be used to demonstrate the overall feasibility while exploring the potential for staff and DSN coverage reductions that autonomous aerobraking might provide. This paper reviews the various elements of autonomous aerobraking and presents an overview of the various models and algorithms that must be transformed from the current ground processing methodology to a flight-like environment. Additionally the high-fidelity flight software test bed, being developed from models used in a recent interplanetary mission, will be summarized.

NiftyPET: a High-throughput Software Platform for High Quantitative Accuracy and Precision PET Imaging and Analysis.

Science.gov (United States)

Markiewicz, Pawel J; Ehrhardt, Matthias J; Erlandsson, Kjell; Noonan, Philip J; Barnes, Anna; Schott, Jonathan M; Atkinson, David; Arridge, Simon R; Hutton, Brian F; Ourselin, Sebastien

2018-01-01

We present a standalone, scalable and high-throughput software platform for PET image reconstruction and analysis. We focus on high fidelity modelling of the acquisition processes to provide high accuracy and precision quantitative imaging, especially for large axial field of view scanners. All the core routines are implemented using parallel computing available from within the Python package NiftyPET, enabling easy access, manipulation and visualisation of data at any processing stage. The pipeline of the platform starts from MR and raw PET input data and is divided into the following processing stages: (1) list-mode data processing; (2) accurate attenuation coefficient map generation; (3) detector normalisation; (4) exact forward and back projection between sinogram and image space; (5) estimation of reduced-variance random events; (6) high accuracy fully 3D estimation of scatter events; (7) voxel-based partial volume correction; (8) region- and voxel-level image analysis. We demonstrate the advantages of this platform using an amyloid brain scan where all the processing is executed from a single and uniform computational environment in Python. The high accuracy acquisition modelling is achieved through span-1 (no axial compression) ray tracing for true, random and scatter events. Furthermore, the platform offers uncertainty estimation of any image derived statistic to facilitate robust tracking of subtle physiological changes in longitudinal studies. The platform also supports the development of new reconstruction and analysis algorithms through restricting the axial field of view to any set of rings covering a region of interest and thus performing fully 3D reconstruction and corrections using real data significantly faster. All the software is available as open source with the accompanying wiki-page and test data.

Role of interleukin-6 levels in cardiovascular autonomic dysfunction in type 2 diabetic patients

International Nuclear Information System (INIS)

Shinohara, Tetsuji; Takahashi, Naohiko; Kakuma, Tetsuya; Hara, Masahide; Yoshimatsu, Hironobu; Yufu, Kunio; Anan, Futoshi; Nakagawa, Mikiko; Saikawa, Tetsunori

2008-01-01

Increased serum interleukin-6 (IL-6) levels are associated with an increased risk of cardiovascular disease, and cardiovascular autonomic dysfunction is associated with high mortality in type 2 diabetic patients. However, the relationship between IL-6 levels and cardiovascular autonomic dysfunction has not been fully elucidated. The aim of this study was to determine whether serum IL-6 levels are associated with cardiovascular autonomic dysfunction in type 2 diabetic patients. Eighty type 2 diabetic patients who did not have organic heart disease were categorized into a high IL-6 group (>2.5 pg/ml, n= 0, age 59±12 years) or a non-high IL-6 group ( 123 I-metaiodobenzylguanidine (MIBG) scintigraphy. The body mass index values (BMI), fasting insulin levels and homeostasis model assessment index values were higher in the high IL-6 group than in the non-high IL-6 group (p 123 I-MIBG myocardial uptake values were lower (p 123 I-MIBG was higher (p 123 I-MIBG during the delayed phase. The results indicate that elevated IL-6 levels are associated with depressed cardiovascular autonomic function and obesity in type 2 diabetic patients. (orig.)

Behavioural domain knowledge transfer for autonomous agents

CSIR Research Space (South Africa)

Rosman, Benjamin S

2014-11-01

Full Text Available , and Behavior Transfer in Autonomous Robots, AAAI 2014 Fall Symposium Series, 13-15 November 2014 Behavioural Domain Knowledge Transfer for Autonomous Agents Benjamin Rosman Mobile Intelligent Autonomous Systems Modelling and Digital Science Council...

Motor execution detection based on autonomic nervous system responses

International Nuclear Information System (INIS)

Marchal-Crespo, Laura; Riener, Robert; Zimmermann, Raphael; Lambercy, Olivier; Edelmann, Janis; Fluet, Marie-Christine; Gassert, Roger; Wolf, Martin

2013-01-01

Triggered assistance has been shown to be a successful robotic strategy for provoking motor plasticity, probably because it requires neurologic patients’ active participation to initiate a movement involving their impaired limb. Triggered assistance, however, requires sufficient residual motor control to activate the trigger and, thus, is not applicable to individuals with severe neurologic injuries. In these situations, brain and body–computer interfaces have emerged as promising solutions to control robotic devices. In this paper, we investigate the feasibility of a body–machine interface to detect motion execution only monitoring the autonomic nervous system (ANS) response. Four physiological signals were measured (blood pressure, breathing rate, skin conductance response and heart rate) during an isometric pinching task and used to train a classifier based on hidden Markov models. We performed an experiment with six healthy subjects to test the effectiveness of the classifier to detect rest and active pinching periods. The results showed that the movement execution can be accurately classified based only on peripheral autonomic signals, with an accuracy level of 84.5%, sensitivity of 83.8% and specificity of 85.2%. These results are encouraging to perform further research on the use of the ANS response in body–machine interfaces. (paper)

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.

Infrastructure-Based Sensors Augmenting Efficient Autonomous Vehicle Operations: Preprint

Energy Technology Data Exchange (ETDEWEB)

Jun, Myungsoo [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Markel, Anthony J [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

2017-11-15

Autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehicles is seen as a potential barrier to broad adoption and achieving system energy efficiency gains. Since traffic in autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehicles is seen as a potential barrier to broad adoption and achieving system energy efficiency gains.

Robust GPS autonomous signal quality monitoring

Science.gov (United States)

Ndili, Awele Nnaemeka

The Global Positioning System (GPS), introduced by the U.S. Department of Defense in 1973, provides unprecedented world-wide navigation capabilities through a constellation of 24 satellites in global orbit, each emitting a low-power radio-frequency signal for ranging. GPS receivers track these transmitted signals, computing position to within 30 meters from range measurements made to four satellites. GPS has a wide range of applications, including aircraft, marine and land vehicle navigation. Each application places demands on GPS for various levels of accuracy, integrity, system availability and continuity of service. Radio frequency interference (RFI), which results from natural sources such as TV/FM harmonics, radar or Mobile Satellite Systems (MSS), presents a challenge in the use of GPS, by posing a threat to the accuracy, integrity and availability of the GPS navigation solution. In order to use GPS for integrity-sensitive applications, it is therefore necessary to monitor the quality of the received signal, with the objective of promptly detecting the presence of RFI, and thus provide a timely warning of degradation of system accuracy. This presents a challenge, since the myriad kinds of RFI affect the GPS receiver in different ways. What is required then, is a robust method of detecting GPS accuracy degradation, which is effective regardless of the origin of the threat. This dissertation presents a new method of robust signal quality monitoring for GPS. Algorithms for receiver autonomous interference detection and integrity monitoring are demonstrated. Candidate test statistics are derived from fundamental receiver measurements of in-phase and quadrature correlation outputs, and the gain of the Active Gain Controller (AGC). Performance of selected test statistics are evaluated in the presence of RFI: broadband interference, pulsed and non-pulsed interference, coherent CW at different frequencies; and non-RFI: GPS signal fading due to physical blockage and

Adaptively detecting changes in Autonomic Grid Computing

KAUST Repository

Zhang, Xiangliang

2010-10-01

Detecting the changes is the common issue in many application fields due to the non-stationary distribution of the applicative data, e.g., sensor network signals, web logs and gridrunning logs. Toward Autonomic Grid Computing, adaptively detecting the changes in a grid system can help to alarm the anomalies, clean the noises, and report the new patterns. In this paper, we proposed an approach of self-adaptive change detection based on the Page-Hinkley statistic test. It handles the non-stationary distribution without the assumption of data distribution and the empirical setting of parameters. We validate the approach on the EGEE streaming jobs, and report its better performance on achieving higher accuracy comparing to the other change detection methods. Meanwhile this change detection process could help to discover the device fault which was not claimed in the system logs. © 2010 IEEE.

Innovative thermal energy harvesting for future autonomous applications

Science.gov (United States)

Monfray, Stephane

2013-12-01

As communicating autonomous systems market is booming, the role of energy harvesting will be a key enabler. As example, heat is one of the most abundant energy sources that can be converted into electricity in order to power circuits. Harvesting systems that use wasted heat open new ways to power autonomous sensors when the energy consumption is low, or to create systems of power generators when the conversion efficiency is high. The combination of different technologies (low power μ-processors, μ-batteries, radio, sensors...) with new energy harvesters compatible with large varieties of use-cases with allow to address this booming market. Thanks to the conjunction of ultra-low power electronic development, 3D technologies & Systems in Package approaches, the integration of autonomous sensors and electronics with ambient energy harvesting will be achievable. The applications are very wide, from environment and industrial sensors to medical portable applications, and the Internet of things may also represent in the future a several billions units market.

Innovative thermal energy harvesting for future autonomous applications

International Nuclear Information System (INIS)

Monfray, Stephane

2013-01-01

As communicating autonomous systems market is booming, the role of energy harvesting will be a key enabler. As example, heat is one of the most abundant energy sources that can be converted into electricity in order to power circuits. Harvesting systems that use wasted heat open new ways to power autonomous sensors when the energy consumption is low, or to create systems of power generators when the conversion efficiency is high. The combination of different technologies (low power μ-processors, μ-batteries, radio, sensors...) with new energy harvesters compatible with large varieties of use-cases with allow to address this booming market. Thanks to the conjunction of ultra-low power electronic development, 3D technologies and Systems in Package approaches, the integration of autonomous sensors and electronics with ambient energy harvesting will be achievable. The applications are very wide, from environment and industrial sensors to medical portable applications, and the Internet of things may also represent in the future a several billions units market

High-accuracy self-mixing interferometer based on single high-order orthogonally polarized feedback effects.

Science.gov (United States)

Zeng, Zhaoli; Qu, Xueming; Tan, Yidong; Tan, Runtao; Zhang, Shulian

2015-06-29

A simple and high-accuracy self-mixing interferometer based on single high-order orthogonally polarized feedback effects is presented. The single high-order feedback effect is realized when dual-frequency laser reflects numerous times in a Fabry-Perot cavity and then goes back to the laser resonator along the same route. In this case, two orthogonally polarized feedback fringes with nanoscale resolution are obtained. This self-mixing interferometer has the advantages of higher sensitivity to weak signal than that of conventional interferometer. In addition, two orthogonally polarized fringes are useful for discriminating the moving direction of measured object. The experiment of measuring 2.5nm step is conducted, which shows a great potential in nanometrology.

Automated novel high-accuracy miniaturized positioning system for use in analytical instrumentation

Science.gov (United States)

Siomos, Konstadinos; Kaliakatsos, John; Apostolakis, Manolis; Lianakis, John; Duenow, Peter

1996-01-01

The development of three-dimensional automotive devices (micro-robots) for applications in analytical instrumentation, clinical chemical diagnostics and advanced laser optics, depends strongly on the ability of such a device: firstly to be positioned with high accuracy, reliability, and automatically, by means of user friendly interface techniques; secondly to be compact; and thirdly to operate under vacuum conditions, free of most of the problems connected with conventional micropositioners using stepping-motor gear techniques. The objective of this paper is to develop and construct a mechanically compact computer-based micropositioning system for coordinated motion in the X-Y-Z directions with: (1) a positioning accuracy of less than 1 micrometer, (the accuracy of the end-position of the system is controlled by a hard/software assembly using a self-constructed optical encoder); (2) a heat-free propulsion mechanism for vacuum operation; and (3) synchronized X-Y motion.

Identification and delineation of areas flood hazard using high accuracy of DEM data

Science.gov (United States)

Riadi, B.; Barus, B.; Widiatmaka; Yanuar, M. J. P.; Pramudya, B.

2018-05-01

Flood incidents that often occur in Karawang regency need to be mitigated. These expectations exist on technologies that can predict, anticipate and reduce disaster risks. Flood modeling techniques using Digital Elevation Model (DEM) data can be applied in mitigation activities. High accuracy DEM data used in modeling, will result in better flooding flood models. The result of high accuracy DEM data processing will yield information about surface morphology which can be used to identify indication of flood hazard area. The purpose of this study was to identify and describe flood hazard areas by identifying wetland areas using DEM data and Landsat-8 images. TerraSAR-X high-resolution data is used to detect wetlands from landscapes, while land cover is identified by Landsat image data. The Topography Wetness Index (TWI) method is used to detect and identify wetland areas with basic DEM data, while for land cover analysis using Tasseled Cap Transformation (TCT) method. The result of TWI modeling yields information about potential land of flood. Overlay TWI map with land cover map that produces information that in Karawang regency the most vulnerable areas occur flooding in rice fields. The spatial accuracy of the flood hazard area in this study was 87%.

Accuracy of Estimating Highly Eccentric Binary Black Hole Parameters with Gravitational-wave Detections

Science.gov (United States)

Gondán, László; Kocsis, Bence; Raffai, Péter; Frei, Zsolt

2018-03-01

Mergers of stellar-mass black holes on highly eccentric orbits are among the targets for ground-based gravitational-wave detectors, including LIGO, VIRGO, and KAGRA. These sources may commonly form through gravitational-wave emission in high-velocity dispersion systems or through the secular Kozai–Lidov mechanism in triple systems. Gravitational waves carry information about the binaries’ orbital parameters and source location. Using the Fisher matrix technique, we determine the measurement accuracy with which the LIGO–VIRGO–KAGRA network could measure the source parameters of eccentric binaries using a matched filtering search of the repeated burst and eccentric inspiral phases of the waveform. We account for general relativistic precession and the evolution of the orbital eccentricity and frequency during the inspiral. We find that the signal-to-noise ratio and the parameter measurement accuracy may be significantly higher for eccentric sources than for circular sources. This increase is sensitive to the initial pericenter distance, the initial eccentricity, and the component masses. For instance, compared to a 30 {M}ȯ –30 {M}ȯ non-spinning circular binary, the chirp mass and sky-localization accuracy can improve by a factor of ∼129 (38) and ∼2 (11) for an initially highly eccentric binary assuming an initial pericenter distance of 20 M tot (10 M tot).

Autonomous Optofluidic Chemical Analyzers for Marine Applications: Insights from the Submersible Autonomous Moored Instruments (SAMI for pH and pCO2

Directory of Open Access Journals (Sweden)

Chun-Ze Lai

2018-01-01

Full Text Available The commercial availability of inexpensive fiber optics and small volume pumps in the early 1990's provided the components necessary for the successful development of low power, low reagent consumption, autonomous optofluidic analyzers for marine applications. It was evident that to achieve calibration-free performance, reagent-based sensors would require frequent renewal of the reagent by pumping the reagent from an impermeable, inert reservoir to the sensing interface. Pumping also enabled measurement of a spectral blank further enhancing accuracy and stability. The first instrument that was developed based on this strategy, the Submersible Autonomous Moored Instrument for CO2 (SAMI-CO2, uses a pH indicator for measurement of the partial pressure of CO2 (pCO2. Because the pH indicator gives an optical response, the instrument requires an optofluidic design where the indicator is pumped into a gas permeable membrane and then to an optical cell for analysis. The pH indicator is periodically flushed from the optical cell by using a valve to switch from the pH indicator to a blank solution. Because of the small volume and low power light source, over 8,500 measurements can be obtained with a ~500 mL reagent bag and 8 alkaline D-cell battery pack. The primary drawback is that the design is more complex compared to the single-ended electrode or optode that is envisioned as the ideal sensor. The SAMI technology has subsequently been used for the successful development of autonomous pH and total alkalinity analyzers. In this manuscript, we will discuss the pros and cons of the SAMI pCO2 and pH optofluidic technology and highlight some past data sets and applications for studying the carbon cycle in aquatic ecosystems.

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.

Caffeine delays autonomic recovery following acute exercise.

Science.gov (United States)

Bunsawat, Kanokwan; White, Daniel W; Kappus, Rebecca M; Baynard, Tracy

2015-11-01

Impaired autonomic recovery of heart rate (HR) following exercise is associated with an increased risk of sudden death. Caffeine, a potent stimulator of catecholamine release, has been shown to augment blood pressure (BP) and sympathetic nerve activity; however, whether caffeine alters autonomic function after a bout of exercise bout remains unclear. In a randomized, crossover study, 18 healthy individuals (26 ± 1 years; 23.9 ± 0.8 kg·m(-2)) ingested caffeine (400 mg) or placebo pills, followed by a maximal treadmill test to exhaustion. Autonomic function and ventricular depolarization/repolarization were determined using heart rate variability (HRV) and corrected QT interval (QTc), respectively, at baseline, 5, 15, and 30 minutes post-exercise. Maximal HR (HRmax) was greater with caffeine (192 ± 2 vs. 190 ± 2 beat·min(-1), p < 0.05). During recovery, HR, mean arterial pressure (MAP), and diastolic blood pressure (DBP) remained elevated with caffeine (p < 0.05). Natural log transformation of low-to-high frequency ratio (LnLF/LnHF) of HRV was increased compared with baseline at all time points in both trials (p < 0.05), with less of an increase during 5 and 15 minutes post-exercise in the caffeine trial (p < 0.05). QTc increased from baseline at all time points in both trials, with greater increases in the caffeine trial (p < 0.05). Caffeine ingestion disrupts post-exercise autonomic recovery because of increased sympathetic nerve activity. The prolonged sympathetic recovery time could subsequently hinder baroreflex function during recovery and disrupt the stability of autonomic function, potentiating a pro-arrhythmogenic state in young adults. © The European Society of Cardiology 2014.

Design of Field Experiments for Adaptive Sampling of the Ocean with Autonomous Vehicles

Science.gov (United States)

Zheng, H.; Ooi, B. H.; Cho, W.; Dao, M. H.; Tkalich, P.; Patrikalakis, N. M.

2010-05-01

Due to the highly non-linear and dynamical nature of oceanic phenomena, the predictive capability of various ocean models depends on the availability of operational data. A practical method to improve the accuracy of the ocean forecast is to use a data assimilation methodology to combine in-situ measured and remotely acquired data with numerical forecast models of the physical environment. Autonomous surface and underwater vehicles with various sensors are economic and efficient tools for exploring and sampling the ocean for data assimilation; however there is an energy limitation to such vehicles, and thus effective resource allocation for adaptive sampling is required to optimize the efficiency of exploration. In this paper, we use physical oceanography forecasts of the coastal zone of Singapore for the design of a set of field experiments to acquire useful data for model calibration and data assimilation. The design process of our experiments relied on the oceanography forecast including the current speed, its gradient, and vorticity in a given region of interest for which permits for field experiments could be obtained and for time intervals that correspond to strong tidal currents. Based on these maps, resources available to our experimental team, including Autonomous Surface Craft (ASC) are allocated so as to capture the oceanic features that result from jets and vortices behind bluff bodies (e.g., islands) in the tidal current. Results are summarized from this resource allocation process and field experiments conducted in January 2009.

Human Supervision of Multiple Autonomous Vehicles

Science.gov (United States)

2013-03-22

AFRL-RH-WP-TR-2013-0143 HUMAN SUPERVISION OF MULTIPLE AUTONOMOUS VEHICLES Heath A. Ruff Ball...REPORT TYPE Interim 3. DATES COVERED (From – To) 09-16-08 – 03-22-13 4. TITLE AND SUBTITLE HUMAN SUPERVISION OF MULTIPLE AUTONOMOUS VEHICLES 5a...Supervision of Multiple Autonomous Vehicles To support the vision of a system that enables a single operator to control multiple next-generation

Autonomic function in manganese alloy workers

Energy Technology Data Exchange (ETDEWEB)

Barrington, W.W.; Angle, C.R.; Willcockson, N.K.; Padula, M.A. [Univ. of Nebraska Medical Center, Omaha, NE (United States); Korn, T.

1998-07-01

The observation of orthostatic hypotension in an index case of manganese toxicity lead to this prospective attempt to evaluate cardiovascular autonomic function and cognitive and emotional neurotoxicity in eight manganese alloy welders and machinists. The subjects consisted of a convenience sample consisting of an index case of manganese dementia, his four co-workers in a frog shop for gouging, welding, and grinding repair of high manganese railway track and a convenience sample of three mild steel welders with lesser manganese exposure also referred because of cognitive or autonomic symptoms. Frog shop air manganese samples 9.6--10 years before and 1.2--3.4 years after the diagnosis of the index case exceeded 1.0 mg/m{sup 3} in 29% and 0.2 mg/m{sup 3} in 62%. Twenty-four-hour electrocardiographic (Holter) monitoring was used to determine the temporal variability of the heartrate (RR{prime} interval) and the rates of change at low frequency and high frequency. MMPI and MCMI personality assessment and short-term memory, figure copy, controlled oral word association, and symbol digit tests were used.

Autonomic and subjective responsivity to emotional images in people with dissociative seizures.

Science.gov (United States)

Pick, Susannah; Mellers, John D C; Goldstein, Laura H

2018-06-01

People with dissociative seizures (DS) report a range of difficulties in emotional functioning and exhibit altered responding to emotional facial expressions in experimental tasks. We extended this research by investigating subjective and autonomic reactivity (ratings of emotional valence, arousal and skin conductance responses [SCRs]) to general emotional images in 39 people with DS relative to 42 healthy control participants, whilst controlling for anxiety, depression, cognitive functioning and, where relevant, medication use. It was predicted that greater subjective negativity and arousal and increased SCRs in response to the affective pictures would be observed in the DS group. The DS group as a whole did not differ from controls in their subjective responses of valence and arousal. However, SCR amplitudes were greater in 'autonomic responders' with DS relative to 'autonomic responders' in the control group. A positive correlation was also observed between SCRs for highly arousing negative pictures and self-reported ictal autonomic arousal, in DS 'autonomic responders'. In the DS subgroup of autonomic 'non-responders', differences in subjective responses were observed for some conditions, compared to control 'non-responders'. The findings indicate unaffected subjective responses to emotional images in people with DS overall. However, within the group of people with DS, there may be subgroups characterized by differences in emotional responding. One subgroup (i.e., 'autonomic responders') exhibit heightened autonomic responses but intact subjective emotional experience, whilst another subgroup (i.e., 'autonomic non-responders') seem to experience greater subjective negativity and arousal for some emotional stimuli, despite less frequent autonomic reactions. The current results suggest that therapeutic interventions targeting awareness and regulation of physiological arousal and subjective emotional experience could be of value in some people with this disorder

Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.

Science.gov (United States)

Hansen, J D; Barrett, S F; Wright, C H G; Wilcox, M

2008-01-01

Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.

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

DEFF Research Database (Denmark)

Bjørner, Thomas

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

Role of interleukin-6 levels in cardiovascular autonomic dysfunction in type 2 diabetic patients

Energy Technology Data Exchange (ETDEWEB)

Shinohara, Tetsuji; Takahashi, Naohiko; Kakuma, Tetsuya; Hara, Masahide; Yoshimatsu, Hironobu [Oita University, Department of Internal Medicine 1, Faculty of Medicine, Yuhu, Oita (Japan); Yufu, Kunio; Anan, Futoshi; Nakagawa, Mikiko; Saikawa, Tetsunori [Oita University, Department of Cardiovascular Science, Oita (Japan)

2008-09-15

Increased serum interleukin-6 (IL-6) levels are associated with an increased risk of cardiovascular disease, and cardiovascular autonomic dysfunction is associated with high mortality in type 2 diabetic patients. However, the relationship between IL-6 levels and cardiovascular autonomic dysfunction has not been fully elucidated. The aim of this study was to determine whether serum IL-6 levels are associated with cardiovascular autonomic dysfunction in type 2 diabetic patients. Eighty type 2 diabetic patients who did not have organic heart disease were categorized into a high IL-6 group (>2.5 pg/ml, n= 0, age 59{+-}12 years) or a non-high IL-6 group (<2.5 pg/ml, n=40, 61{+-}12 years). Cardiac autonomic function was assessed by baroreflex sensitivity, heart rate variability, plasma norepinephrine concentrations and {sup 123}I-metaiodobenzylguanidine (MIBG) scintigraphy. The body mass index values (BMI), fasting insulin levels and homeostasis model assessment index values were higher in the high IL-6 group than in the non-high IL-6 group (p<0.01). Early and delayed {sup 123}I-MIBG myocardial uptake values were lower (p<0.01), and the percent washout rate of {sup 123}I-MIBG was higher (p<0.05) in the high IL-6 group than in the non-high IL-6 group. Furthermore, multiple regression analysis revealed that the IL-6 level was independently predicted by the BMI and the myocardial uptake of {sup 123}I-MIBG during the delayed phase. The results indicate that elevated IL-6 levels are associated with depressed cardiovascular autonomic function and obesity in type 2 diabetic patients. (orig.)

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.

Exercise improves cardiac autonomic function in obesity and diabetes.

Science.gov (United States)

Voulgari, Christina; Pagoni, Stamatina; Vinik, Aaron; Poirier, Paul

2013-05-01

Physical activity is a key element in the prevention and management of obesity and diabetes. Regular physical activity efficiently supports diet-induced weight loss, improves glycemic control, and can prevent or delay type 2 diabetes diagnosis. Furthermore, physical activity positively affects lipid profile, blood pressure, reduces the rate of cardiovascular events and associated mortality, and restores the quality of life in type 2 diabetes. However, recent studies have documented that a high percentage of the cardiovascular benefits of exercise cannot be attributed solely to enhanced cardiovascular risk factor modulation. Obesity in concert with diabetes is characterized by sympathetic overactivity and the progressive loss of cardiac parasympathetic influx. These are manifested via different pathogenetic mechanisms, including hyperinsulinemia, visceral obesity, subclinical inflammation and increased thrombosis. Cardiac autonomic neuropathy is an underestimated risk factor for the increased cardiovascular morbidity and mortality associated with obesity and diabetes. The same is true for the role of physical exercise in the restoration of the heart cardioprotective autonomic modulation in these individuals. This review addresses the interplay of cardiac autonomic function in obesity and diabetes, and focuses on the importance of exercise in improving cardiac autonomic dysfunction. Copyright © 2013 Elsevier Inc. All rights reserved.

High accuracy positioning using carrier-phases with the opensource GPSTK software

OpenAIRE

Salazar Hernández, Dagoberto José; Hernández Pajares, Manuel; Juan Zornoza, José Miguel; Sanz Subirana, Jaume

2008-01-01

The objective of this work is to show how using a proper GNSS data management strategy, combined with the flexibility provided by the open source "GPS Toolkit" (GPSTk), it is possible to easily develop both simple code-based processing strategies as well as basic high accuracy carrier-phase positioning techniques like Precise Point Positioning (PPP

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....

Effect of Sleep/Wake Cycle on Autonomic Regulation

International Nuclear Information System (INIS)

Jabeen, S.

2015-01-01

Objective: To evaluate the association between irregular sleep/wake cycle in shift workers and autonomic regulation. Study Design: Cross-sectional, analytical study. Place and Duration of Study: Dow University Hospital, Karachi, from August to November 2013. Methodology: All health care providers working in rotating shifts making a total (n=104) were included. Instrument was an integrated questionnaire applied to assess autonomic regulation, taken from Kroz et al. on scoring criteria, ranging from 18 - 54, where higher rating signifies strong autonomic regulation, indicating a stable Autonomic Nervous System (ANS) and vice versa. Participants were interviewed and their response was recorded by the investigator. Influence of sleep misalignment was measured quantitatively to extract index of autonomic activity. Results: There was a reduced trend in autonomic strength amongst shift workers. The mean score obtained on the Autonomic Scale was 37.8 ± 5.9. Conclusion: Circadian misalignment has an injurious influence on ANS which might be valuable in controlling autonomic dysfunction that leads to fatal triggers in rotating shift workers. (author)

A New Approach to High-accuracy Road Orthophoto Mapping Based on Wavelet Transform

Directory of Open Access Journals (Sweden)

Ming Yang

2011-12-01

Full Text Available Existing orthophoto map based on satellite photography and aerial photography is not precise enough for road marking. This paper proposes a new approach to high-accuracy orthophoto mapping. The approach uses inverse perspective transformation to process the image information and generates the orthophoto fragment. The offline interpolation algorithm is used to process the location information. It processes the dead reckoning and the EKF location information, and uses the result to transform the fragments to the global coordinate system. At last it uses wavelet transform to divides the image to two frequency bands and uses weighted median algorithm to deal with them separately. The result of experiment shows that the map produced with this method has high accuracy.

A new ultra-high-accuracy angle generator: current status and future direction

Science.gov (United States)

Guertin, Christian F.; Geckeler, Ralf D.

2017-09-01

Lack of an extreme high-accuracy angular positioning device available in the United States has left a gap in industrial and scientific efforts conducted there, requiring certain user groups to undertake time-consuming work with overseas laboratories. Specifically, in x-ray mirror metrology the global research community is advancing the state-of-the-art to unprecedented levels. We aim to fill this U.S. gap by developing a versatile high-accuracy angle generator as a part of the national metrology tool set for x-ray mirror metrology and other important industries. Using an established calibration technique to measure the errors of the encoder scale graduations for full-rotation rotary encoders, we implemented an optimized arrangement of sensors positioned to minimize propagation of calibration errors. Our initial feasibility research shows that upon scaling to a full prototype and including additional calibration techniques we can expect to achieve uncertainties at the level of 0.01 arcsec (50 nrad) or better and offer the immense advantage of a highly automatable and customizable product to the commercial market.

Different nutritional states and autonomic imbalance in childhood.

Science.gov (United States)

Dippacher, S; Willaschek, C; Buchhorn, R

2014-11-01

Autonomic imbalance, measured as heart rate variability (HRV), and an increased cardiovascular risk are described for overweight children, as well as for patients with anorexia nervosa. We investigate whether body mass index or actual caloric intake influences HRV. In our cross-sectional study, we compared HRV parameters for a healthy control group (n=52), anorexia nervosa patients (n=17), thin (n=18) and overweight children (n=19). Anorexia nervosa patients showed significantly lower heart rates at night (Pchildren showed an opposing pattern. SDNN and heart rate at night are highly correlated (r=0.89, R(2)=0.79, Panorexia nervosa are characterized by a specific pattern of autonomic imbalance.

Person perception and autonomic nervous system response: the costs and benefits of possessing a high social status.

Science.gov (United States)

Cloutier, J; Norman, G J; Li, T; Berntson, G G

2013-02-01

This research was designed to investigate the relationship between sympathetic and parasympathetic autonomic nervous system (ANS) responses to the perception of social targets varying in social status. Participants varying in subjective financial status were presented with faces assigned with either a low, average, or high financial status. Electrocardiographic and impedance cardiography signals were recorded and measures of sympathetic (pre-ejection period; PEP) and parasympathetic (high frequency heart rate variability; HF HRV) cardiac control were derived. These measures associated with the presentation of each face condition were examined in relation to the subjective status of the perceivers. Participants with high subjective financial status showed reduced sympathetic activity when viewing low- and medium-status targets as compared to high-status targets, and lower parasympathetic response when viewing high- and medium-status targets relative to low-status targets. Copyright © 2012. Published by Elsevier B.V.

Cardiac autonomic functions and the emergence of violence in a highly realistic model of social conflict in humans.

Directory of Open Access Journals (Sweden)

Jozsef eHaller

2014-10-01

Full Text Available Among the multitude of factors that can transform human social interactions into violent conflicts, biological features received much attention in recent years as correlates of decision making and aggressiveness especially in critical situations. We present here a highly realistic new model of human aggression and violence, where genuine acts of aggression are readily performed and which at the same time allows the parallel recording of biological concomitants. Particularly, we studied police officers trained at the International Training Centre (Budapest, Hungary, who are prepared to perform operations under extreme conditions of stress. We found that aggressive arousal can transform a basically peaceful social encounter into a violent conflict. Autonomic recordings show that this change is accompanied by increased heart rates, which was associated earlier with reduced cognitive complexity of perceptions (attentional myopia and promotes a bias towards hostile attributions and aggression. We also observed reduced heart rate variability in violent subjects, which is believed to signal a poor functioning of prefrontal-subcortical inhibitory circuits and reduces self-control. Importantly, these autonomic particularities were observed already at the beginning of social encounters i.e. before aggressive acts were initiated, suggesting that individual characteristics of the stress-response define the way in which social pressure affects social behavior, particularly the way in which this develops into violence. Taken together, these findings suggest that cardiac autonomic functions are valuable external symptoms of internal motivational states and decision making processes, and raise the possibility that behavior under social pressure can be predicted by the individual characteristics of stress responsiveness.

Advances in Autonomous Systems for Missions of Space Exploration

Science.gov (United States)

Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.

New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels 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 meeting the greatly increased space exploration requirements, along with dramatically reduced 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 monitoring and maintenance 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 space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these 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 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 communications distance as are not otherwise possible, as well as many more efficient and low cost

Brain Circuitry Supporting Multi-Organ Autonomic Outflow in Response to Nausea.

Science.gov (United States)

Sclocco, Roberta; Kim, Jieun; Garcia, Ronald G; Sheehan, James D; Beissner, Florian; Bianchi, Anna M; Cerutti, Sergio; Kuo, Braden; Barbieri, Riccardo; Napadow, Vitaly

2016-02-01

While autonomic outflow is an important co-factor of nausea physiology, central control of this outflow is poorly understood. We evaluated sympathetic (skin conductance level) and cardiovagal (high-frequency heart rate variability) modulation, collected synchronously with functional MRI (fMRI) data during nauseogenic visual stimulation aimed to induce vection in susceptible individuals. Autonomic data guided analysis of neuroimaging data, using a stimulus-based (analysis windows set by visual stimulation protocol) and percept-based (windows set by subjects' ratings) approach. Increased sympathetic and decreased parasympathetic modulation was associated with robust and anti-correlated brain activity in response to nausea. Specifically, greater autonomic response was associated with reduced fMRI signal in brain regions such as the insula, suggesting an inhibitory relationship with premotor brainstem nuclei. Interestingly, some sympathetic/parasympathetic specificity was noted. Activity in default mode network and visual motion areas was anti-correlated with parasympathetic outflow at peak nausea. In contrast, lateral prefrontal cortical activity was anti-correlated with sympathetic outflow during recovery, soon after cessation of nauseogenic stimulation. These results suggest divergent central autonomic control for sympathetic and parasympathetic response to nausea. Autonomic outflow and the central autonomic network underlying ANS response to nausea may be an important determinant of overall nausea intensity and, ultimately, a potential therapeutic target. © The Author 2014. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Mining in the Future: Autonomous Robotics for Safer Mines

CSIR Research Space (South Africa)

Shahdi, A

2012-10-01

Full Text Available ? Require less support infrastructure ? Advanced sensors ? CSIR 2012 Slide 4 Degree of Autonomy ? Teleoperation ? Semi-autonomous ? Autonomous ? CSIR 2012 Slide 5 Mobile Intelligent Autonomous Systems Group ? The Mobile Intelligent Autonomous...

From cooperative to autonomous vehicles

NARCIS (Netherlands)

van der Sande, T.P.J.; Nijmeijer, H.; Fossen, T.I.; Pettersen, K.Y.; Nijmeijer, H.

2017-01-01

What defines an autonomous vehicle? In this chapter the authors will try to answer this question and formulate the limitations of driver assistance systems as well as for—conditionally—autonomous vehicles . First a short summary of the levels of automation as provided by the society of automotive

Ultra-high accuracy optical testing: creating diffraction-limited short-wavelength optical systems

International Nuclear Information System (INIS)

Goldberg, Kenneth A.; Naulleau, Patrick P.; Rekawa, Senajith B.; Denham, Paul E.; Liddle, J. Alexander; Gullikson, Eric M.; Jackson, KeithH.; Anderson, Erik H.; Taylor, John S.; Sommargren, Gary E.; Chapman, Henry N.; Phillion, Donald W.; Johnson, Michael; Barty, Anton; Soufli, Regina; Spiller, Eberhard A.; Walton, Christopher C.; Bajt, Sasa

2005-01-01

Since 1993, research in the fabrication of extreme ultraviolet (EUV) optical imaging systems, conducted at Lawrence Berkeley National Laboratory (LBNL) and Lawrence Livermore National Laboratory (LLNL), has produced the highest resolution optical systems ever made. We have pioneered the development of ultra-high-accuracy optical testing and alignment methods, working at extreme ultraviolet wavelengths, and pushing wavefront-measuring interferometry into the 2-20-nm wavelength range (60-600 eV). These coherent measurement techniques, including lateral shearing interferometry and phase-shifting point-diffraction interferometry (PS/PDI) have achieved RMS wavefront measurement accuracies of 0.5-1-(angstrom) and better for primary aberration terms, enabling the creation of diffraction-limited EUV optics. The measurement accuracy is established using careful null-testing procedures, and has been verified repeatedly through high-resolution imaging. We believe these methods are broadly applicable to the advancement of short-wavelength optical systems including space telescopes, microscope objectives, projection lenses, synchrotron beamline optics, diffractive and holographic optics, and more. Measurements have been performed on a tunable undulator beamline at LBNL's Advanced Light Source (ALS), optimized for high coherent flux; although many of these techniques should be adaptable to alternative ultraviolet, EUV, and soft x-ray light sources. To date, we have measured nine prototype all-reflective EUV optical systems with NA values between 0.08 and 0.30 (f/6.25 to f/1.67). These projection-imaging lenses were created for the semiconductor industry's advanced research in EUV photolithography, a technology slated for introduction in 2009-13. This paper reviews the methods used and our program's accomplishments to date

Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer.

Science.gov (United States)

Macharet, Douglas G; Perez-Imaz, Héctor I A; Rezeck, Paulo A F; Potje, Guilherme A; Benyosef, Luiz C C; Wiermann, André; Freitas, Gustavo M; Garcia, Luis G U; Campos, Mario F M

2016-12-17

Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs). We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly.

Autonomous aerial sensors for wind power meteorology - A pre-project

Energy Technology Data Exchange (ETDEWEB)

Giebel, G. (ed.); Schmidt Paulsen, U.; Bange, J.; la Cour-Harbo, A.; Reuder, J.; Mayer, S.; van der Kroonenberg, A.; Moelgaard, J.

2012-01-15

Autonomous Aerial Sensors, i.e. meteorological sensors mounted on Unmanned Aerial Systems UAS, can characterise the atmospheric flow in and around wind farms. We instrumented three planes, a helicopter and a lighter-than-air LTA system to fly one week together in a well-instrumented wind farm, partly with nano-synchronised sensors (time stamped with about 100 ns global accuracy). Between bankruptcy of a partner, denied overflight rights at the main test location, denied Civil Aviation Authorities permits at the alternative location, stolen planes, and crashed UAS we managed to collect data at a wind farm in Lolland and on an atmospheric campaign in France. Planning of an offshore campaign using the developed techniques is underway. (Author)

Operator Informational Needs for Multiple Autonomous Small Vehicles

Science.gov (United States)

Trujillo, Anna C.; Fan, Henry; Cross, Charles D.; Hempley, Lucas E.; Cichella, Venanzio; Puig-Navarro, Javier; Mehdi, Syed Bilal

2015-01-01

With the anticipated explosion of small unmanned aerial vehicles, it is highly likely that operators will be controlling fleets of autonomous vehicles. To fulfill the promise of autonomy, vehicle operators will not be concerned with manual control of the vehicle; instead, they will deal with the overall mission. Furthermore, the one operator to many vehicles is becoming a constant meme with various industries including package delivery, search and rescue, and utility companies. In order for an operator to concurrently control several vehicles, his station must look and behave very differently than the current ground control station instantiations. Furthermore, the vehicle will have to be much more autonomous, especially during non-normal operations, in order to accommodate the knowledge deficit or the information overload of the operator in charge of several vehicles. The expected usage increase of small drones requires presenting the operational information generated by a fleet of heterogeneous autonomous agents to an operator. NASA Langley Research Center's Autonomy Incubator has brought together researchers in various disciplines including controls, trajectory planning, systems engineering, and human factors to develop an integrated system to study autonomy issues. The initial human factors effort is focusing on mission displays that would give an operator the overall status of all autonomous agents involved in the current mission. This paper will discuss the specifics of the mission displays for operators controlling several vehicles.

Autonomous Learner Model Resource Book

Science.gov (United States)

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

2016-01-01

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

ADRES : autonomous decentralized regenerative energy systems

Energy Technology Data Exchange (ETDEWEB)

Brauner, G.; Einfalt, A.; Leitinger, C.; Tiefgraber, D. [Vienna Univ. of Technology (Austria)

2007-07-01

The autonomous decentralized regenerative energy systems (ADRES) research project demonstrates that decentralized network independent microgrids are the target power systems of the future. This paper presented a typical structure of a microgrid, demonstrating that all types of generation available can be integrated, from wind and small hydro to photovoltaic, fuel cell, biomass or biogas operated stirling motors and micro turbines. In grid connected operation the balancing energy and reactive power for voltage control will come from the public grid. If there is no interconnection to a superior grid, it will form an autonomous micro grid. In order to reduce peak power demand and base energy, autonomous microgrid technology requires highly efficient appliances. Otherwise large collector design, high storage and balancing generation capacities would be necessary, which would increase costs. End-use energy efficiency was discussed with reference to demand side management (DSM) strategies that match energy demand with actual supply in order to minimize the storage size needed. This paper also discussed network controls that comprise active and reactive power. Decentralized robust algorithms were investigated with reference to black-start ability and congestion management features. It was concluded that the trend to develop small decentralized grids in parallel to existing large systems will improve security of supply and reduce greenhouse gas emissions. Decentralized grids will also increase energy efficiency because regenerative energy will be used where it is collected in the form of electricity and heat, thus avoiding transport and the extension of transmission lines. Decentralized energy technology is now becoming more economic by efficient and economic mass production of components. Although decentralized energy technology requires energy automation, computer intelligence is becoming increasingly cost efficient. 2 refs., 4 figs.

Modeling the Turning Speed and Car Following Behaviors of Autonomous Vehicles in a Virtual World

Directory of Open Access Journals (Sweden)

Carrillo-González José Gerardo

2015-07-01

Full Text Available This article deals with mathematical models for controlling vehicles behavior in a virtual world, where two behaviors are considered: 1 curve turning and 2 car following situations, in this last is essential to provide a safety distance between the leader and the follower and at the same time keep the follower not delayed with respect to the leader, and in a curve turning the complexity is to provide a safety speed inside the curve and keep the car inside the lane. Using basic information as vehicles position, mathematical models can be developed for explaining the heading angle and the autonomous vehicles speed on curves, i.e. the controlled by the models. A model that predicts the autonomous vehicle speed on curves is developed considering previous data in other curves. Two models that control the acceleration/deceleration behavior of autonomous vehicles in a car following situation are proposed. In the first model, the parameters are calibrated with a proposed algorithm which enables accuracy in order to imitate the human behavior for accelerating and braking, and the second model provides a safety distance between the follower and the leader at sudden stops of the latter and employs the acceleration/deceleration top capabilities to follow the leader car similar to the human behavior.

The Human Element and Autonomous Ships

Directory of Open Access Journals (Sweden)

Sauli Ahvenjärvi

2016-09-01

Full Text Available The autonomous ship technology has become a “hot” topic in the discussion about more efficient, environmentally friendly and safer sea transportation solutions. The time is becoming mature for the introduction of commercially sensible solutions for unmanned and fully autonomous cargo and passenger ships. Safety will be the most interesting and important aspect in this development. The utilization of the autonomous ship technology will have many effects on the safety, both positive and negative. It has been announced that the goal is to make the safety of an unmanned ship better that the safety of a manned ship. However, it must be understood that the human element will still be present when fully unmanned ships are being used. The shore-based control of a ship contains new safety aspects and an interesting question will be the interaction of manned and unmanned ships in the same traffic area. The autonomous ship technology should therefore be taken into account on the training of seafarers. Also it should not be forgotten that every single control algorithm and rule of the internal decision making logic of the autonomously navigating ship has been designed and coded by a human software engineer. Thus the human element is present also in this point of the lifetime navigation system of the autonomous ship.

Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy

Directory of Open Access Journals (Sweden)

Heung Yong Jin

2015-12-01

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

Cardiovascular Autonomic Dysfunction in Patients with Morbid Obesity

Energy Technology Data Exchange (ETDEWEB)

Sant Anna Junior, Maurício de [Programa de Tratamento Multidisciplinar da Obesidade do Hospital Universitário Clementino Fraga Filho da Universidade Federal do Rio de Janeiro - UFRJ - Rio de Janeiro, RJ (Brazil); Departamento de Fisioterapia do Centro Universitário Anhanguera Niterói - UNIAN, Niterói, RJ (Brazil); Programa de pós-graduação em Ciências Médicas, Universidade Federal Fluminense - UFF, Niterói, RJ (Brazil); Instituto Federal de Educação, Ciência e Tecnologia do Rio de Janeiro, Rio de Janeiro, RJ (Brazil); Carneiro, João Regis Ivar; Carvalhal, Renata Ferreira [Programa de Tratamento Multidisciplinar da Obesidade do Hospital Universitário Clementino Fraga Filho da Universidade Federal do Rio de Janeiro - UFRJ - Rio de Janeiro, RJ (Brazil); Torres, Diego de Faria Magalhães [Programa de Tratamento Multidisciplinar da Obesidade do Hospital Universitário Clementino Fraga Filho da Universidade Federal do Rio de Janeiro - UFRJ - Rio de Janeiro, RJ (Brazil); Departamento de Fisioterapia da Universidade Federal do Rio de Janeiro - UFRJ, Rio de Janeiro, RJ (Brazil); Cruz, Gustavo Gavina da; Quaresma, José Carlos do Vale [Programa de Tratamento Multidisciplinar da Obesidade do Hospital Universitário Clementino Fraga Filho da Universidade Federal do Rio de Janeiro - UFRJ - Rio de Janeiro, RJ (Brazil); Lugon, Jocemir Ronaldo [Divisão de Nefrologia - Faculdade de Medicina da Universidade Federal Fluminense - UFF, Niterói, RJ (Brazil); Guimarães, Fernando Silva, E-mail: fguimaraes_pg@yahoo.com.br [Departamento de Fisioterapia da Universidade Federal do Rio de Janeiro - UFRJ, Rio de Janeiro, RJ (Brazil); Programa de pós-graduação em Ciências da Reabilitação - Centro Universitário Augusto Motta, Rio de Janeiro, RJ (Brazil)

2015-12-15

Morbid obesity is directly related to deterioration in cardiorespiratory capacity, including changes in cardiovascular autonomic modulation. This study aimed to assess the cardiovascular autonomic function in morbidly obese individuals. Cross-sectional study, including two groups of participants: Group I, composed by 50 morbidly obese subjects, and Group II, composed by 30 nonobese subjects. The autonomic function was assessed by heart rate variability in the time domain (standard deviation of all normal RR intervals [SDNN]; standard deviation of the normal R-R intervals [SDNN]; square root of the mean squared differences of successive R-R intervals [RMSSD]; and the percentage of interval differences of successive R-R intervals greater than 50 milliseconds [pNN50] than the adjacent interval), and in the frequency domain (high frequency [HF]; low frequency [LF]: integration of power spectral density function in high frequency and low frequency ranges respectively). Between-group comparisons were performed by the Student’s t-test, with a level of significance of 5%. Obese subjects had lower values of SDNN (40.0 ± 18.0 ms vs. 70.0 ± 27.8 ms; p = 0.0004), RMSSD (23.7 ± 13.0 ms vs. 40.3 ± 22.4 ms; p = 0.0030), pNN50 (14.8 ± 10.4 % vs. 25.9 ± 7.2%; p = 0.0061) and HF (30.0 ± 17.5 Hz vs. 51.7 ± 25.5 Hz; p = 0.0023) than controls. Mean LF/HF ratio was higher in Group I (5.0 ± 2.8 vs. 1.0 ± 0.9; p = 0.0189), indicating changes in the sympathovagal balance. No statistical difference in LF was observed between Group I and Group II (50.1 ± 30.2 Hz vs. 40.9 ± 23.9 Hz; p = 0.9013). morbidly obese individuals have increased sympathetic activity and reduced parasympathetic activity, featuring cardiovascular autonomic dysfunction.

Cardiovascular Autonomic Dysfunction in Patients with Morbid Obesity

International Nuclear Information System (INIS)

Sant Anna Junior, Maurício de; Carneiro, João Regis Ivar; Carvalhal, Renata Ferreira; Torres, Diego de Faria Magalhães; Cruz, Gustavo Gavina da; Quaresma, José Carlos do Vale; Lugon, Jocemir Ronaldo; Guimarães, Fernando Silva

2015-01-01

Morbid obesity is directly related to deterioration in cardiorespiratory capacity, including changes in cardiovascular autonomic modulation. This study aimed to assess the cardiovascular autonomic function in morbidly obese individuals. Cross-sectional study, including two groups of participants: Group I, composed by 50 morbidly obese subjects, and Group II, composed by 30 nonobese subjects. The autonomic function was assessed by heart rate variability in the time domain (standard deviation of all normal RR intervals [SDNN]; standard deviation of the normal R-R intervals [SDNN]; square root of the mean squared differences of successive R-R intervals [RMSSD]; and the percentage of interval differences of successive R-R intervals greater than 50 milliseconds [pNN50] than the adjacent interval), and in the frequency domain (high frequency [HF]; low frequency [LF]: integration of power spectral density function in high frequency and low frequency ranges respectively). Between-group comparisons were performed by the Student’s t-test, with a level of significance of 5%. Obese subjects had lower values of SDNN (40.0 ± 18.0 ms vs. 70.0 ± 27.8 ms; p = 0.0004), RMSSD (23.7 ± 13.0 ms vs. 40.3 ± 22.4 ms; p = 0.0030), pNN50 (14.8 ± 10.4 % vs. 25.9 ± 7.2%; p = 0.0061) and HF (30.0 ± 17.5 Hz vs. 51.7 ± 25.5 Hz; p = 0.0023) than controls. Mean LF/HF ratio was higher in Group I (5.0 ± 2.8 vs. 1.0 ± 0.9; p = 0.0189), indicating changes in the sympathovagal balance. No statistical difference in LF was observed between Group I and Group II (50.1 ± 30.2 Hz vs. 40.9 ± 23.9 Hz; p = 0.9013). morbidly obese individuals have increased sympathetic activity and reduced parasympathetic activity, featuring cardiovascular autonomic dysfunction

High-accuracy user identification using EEG biometrics.

Science.gov (United States)

Koike-Akino, Toshiaki; Mahajan, Ruhi; Marks, Tim K; Ye Wang; Watanabe, Shinji; Tuzel, Oncel; Orlik, Philip

2016-08-01

We analyze brain waves acquired through a consumer-grade EEG device to investigate its capabilities for user identification and authentication. First, we show the statistical significance of the P300 component in event-related potential (ERP) data from 14-channel EEGs across 25 subjects. We then apply a variety of machine learning techniques, comparing the user identification performance of various different combinations of a dimensionality reduction technique followed by a classification algorithm. Experimental results show that an identification accuracy of 72% can be achieved using only a single 800 ms ERP epoch. In addition, we demonstrate that the user identification accuracy can be significantly improved to more than 96.7% by joint classification of multiple epochs.

GPS navigation algorithms for Autonomous Airborne Refueling of Unmanned Air Vehicles

Science.gov (United States)

Khanafseh, Samer Mahmoud

Unmanned Air Vehicles (UAVs) have recently generated great interest because of their potential to perform hazardous missions without risking loss of life. If autonomous airborne refueling is possible for UAVs, mission range and endurance will be greatly enhanced. However, concerns about UAV-tanker proximity, dynamic mobility and safety demand that the relative navigation system meets stringent requirements on accuracy, integrity, and continuity. In response, this research focuses on developing high-performance GPS-based navigation architectures for Autonomous Airborne Refueling (AAR) of UAVs. The AAR mission is unique because of the potentially severe sky blockage introduced by the tanker. To address this issue, a high-fidelity dynamic sky blockage model was developed and experimentally validated. In addition, robust carrier phase differential GPS navigation algorithms were derived, including a new method for high-integrity reacquisition of carrier cycle ambiguities for recently-blocked satellites. In order to evaluate navigation performance, world-wide global availability and sensitivity covariance analyses were conducted. The new navigation algorithms were shown to be sufficient for turn-free scenarios, but improvement in performance was necessary to meet the difficult requirements for a general refueling mission with banked turns. Therefore, several innovative methods were pursued to enhance navigation performance. First, a new theoretical approach was developed to quantify the position-domain integrity risk in cycle ambiguity resolution problems. A mechanism to implement this method with partially-fixed cycle ambiguity vectors was derived, and it was used to define tight upper bounds on AAR navigation integrity risk. A second method, where a new algorithm for optimal fusion of measurements from multiple antennas was developed, was used to improve satellite coverage in poor visibility environments such as in AAR. Finally, methods for using data-link extracted

Connected and autonomous vehicles 2040 vision.

Science.gov (United States)

2014-07-01

The Pennsylvania Department of Transportation (PennDOT) commissioned a one-year project, Connected and Autonomous : Vehicles 2040 Vision, with researchers at Carnegie Mellon University (CMU) to assess the implications of connected and : autonomous ve...

Autonomous Operations System: Development and Application

Science.gov (United States)

Toro Medina, Jaime A.; Wilkins, Kim N.; Walker, Mark; Stahl, Gerald M.

2016-01-01

Autonomous control systems provides the ability of self-governance beyond the conventional control system. As the complexity of mechanical and electrical systems increases, there develops a natural drive for developing robust control systems to manage complicated operations. By closing the bridge between conventional automated systems to knowledge based self-awareness systems, nominal control of operations can evolve into relying on safe critical mitigation processes to support any off-nominal behavior. Current research and development efforts lead by the Autonomous Propellant Loading (APL) group at NASA Kennedy Space Center aims to improve cryogenic propellant transfer operations by developing an automated control and health monitoring system. As an integrated systems, the center aims to produce an Autonomous Operations System (AOS) capable of integrating health management operations with automated control to produce a fully autonomous system.

ROV90 - A prototype autonomous inspection vehicle

Energy Technology Data Exchange (ETDEWEB)

Roedseth, Oe.J.; Hallset, J.O.

1991-04-01

Simple autonomous inspection vehicles are suitable for operations where the cost, danger to humans, or area of operation prohibits the use of conventional underwater technology. Autonomous vehicles are, however, in their infancy and few such vehicles are available. There are still some problems to be overcome before this technology becomes useful in commercial applications. We have built ROV90 to investigate these problems. It is a test bed for experimenting with the different parts of an autonomous underwater vehicle. ROV90 will be able to autonomously follow prominent features in the real world, man made or natural. Examples are pipelines or walls in tunnels. ROV90 is tethered, but we are planning to use experience and results from ROV90 to develop av ''real'' autonomous underwater vehicle (AUV) called PISCIS. 11 refs., 8 figs.

High Accuracy Attitude Control System Design for Satellite with Flexible Appendages

Directory of Open Access Journals (Sweden)

Wenya Zhou

2014-01-01

Full Text Available In order to realize the high accuracy attitude control of satellite with flexible appendages, attitude control system consisting of the controller and structural filter was designed. When the low order vibration frequency of flexible appendages is approximating the bandwidth of attitude control system, the vibration signal will enter the control system through measurement device to bring impact on the accuracy or even the stability. In order to reduce the impact of vibration of appendages on the attitude control system, the structural filter is designed in terms of rejecting the vibration of flexible appendages. Considering the potential problem of in-orbit frequency variation of the flexible appendages, the design method for the adaptive notch filter is proposed based on the in-orbit identification technology. Finally, the simulation results are given to demonstrate the feasibility and effectiveness of the proposed design techniques.

Distributed Hardware-in-the-loop simulator for autonomous continuous dynamical systems with spatially constrained interactions

NARCIS (Netherlands)

Verburg, D.J.; Papp, Z.; Dorrepaal, M.

2003-01-01

The state-of-the-art intelligent vehicle, autonomous guided vehicle and mobile robotics application domains can be described as collection of interacting highly autonomous complex dynamical systems. Extensive formal analysis of these systems – except special cases – is not feasible, consequently the

An action selection architecture for autonomous virtual humans in persistent worlds

OpenAIRE

Sevin, Etienne de; Thalmann, Daniel

2007-01-01

Nowadays, virtual humans such as non-player characters in computer games need to have a strong autonomy in order to live their own life in persistent virtual worlds. When designing autonomous virtual humans, the action selection problem needs to be considered, as it is responsible for decision making at each moment in time. Indeed action selection architectures for autonomous virtual humans need to be reactive, proactive, motivational, and emotional to obtain a high degree of autonomy and ind...

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.

Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

Energy Technology Data Exchange (ETDEWEB)

Tuvshinjargal, Doopalam; Lee, Deok Jin [Kunsan National University, Gunsan (Korea, Republic of)

2015-06-15

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

International Nuclear Information System (INIS)

Tuvshinjargal, Doopalam; Lee, Deok Jin

2015-01-01

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments

Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

NARCIS (Netherlands)

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

2008-01-01

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

Technics study on high accuracy crush dressing and sharpening of diamond grinding wheel

Science.gov (United States)

Jia, Yunhai; Lu, Xuejun; Li, Jiangang; Zhu, Lixin; Song, Yingjie

2011-05-01

Mechanical grinding of artificial diamond grinding wheel was traditional wheel dressing process. The rotate speed and infeed depth of tool wheel were main technics parameters. The suitable technics parameters of metals-bonded diamond grinding wheel and resin-bonded diamond grinding wheel high accuracy crush dressing were obtained by a mount of experiment in super-hard material wheel dressing grind machine and by analysis of grinding force. In the same time, the effect of machine sharpening and sprinkle granule sharpening was contrasted. These analyses and lots of experiments had extent instruction significance to artificial diamond grinding wheel accuracy crush dressing.

Terrain aided navigation for autonomous underwater vehicles with coarse maps

International Nuclear Information System (INIS)

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian

2016-01-01

Terrain aided navigation (TAN) is a form of geophysical localization technique for autonomous underwater vehicles (AUVs) operating in GPS-denied environments. TAN performance on sensor-rich AUVs has been evaluated in sea trials. However, many challenges remain before TAN can be successfully implemented on sensor-limited AUVs, especially with coarse maps. To improve TAN performance over coarse maps, a Gaussian process (GP) is proposed for the modeling of bathymetric terrain and integrated into the particle filter (GP-PF). GP is applied to provide not only the bathymetric value prediction through learning a set of bathymetric data from coarse maps but also the variance of the prediction. As a measurement update, calculated on bathymetric deviation is performed through the PF to obtain absolute and bounded positioning accuracy. Through the analysis of TAN performance on experimental data for two different terrains with map resolutions of 10–50 m, both the ability of the proposed model to represent the actual bathymetric terrain with accuracy and the effect of the GP-PF for TAN on sensor-limited systems in suited terrain are demonstrated. The experiment results further verify that there is an inverse relationship between the coarseness of the map and the overall TAN accuracy in rough terrains, but there is hardly any relationship between them in relatively flat terrains. (paper)

High accuracy subwavelength distance measurements: A variable-angle standing-wave total-internal-reflection optical microscope

International Nuclear Information System (INIS)

Haynie, A.; Min, T.-J.; Luan, L.; Mu, W.; Ketterson, J. B.

2009-01-01

We describe an extension of the total-internal-reflection microscopy technique that permits direct in-plane distance measurements with high accuracy (<10 nm) over a wide range of separations. This high position accuracy arises from the creation of a standing evanescent wave and the ability to sweep the nodal positions (intensity minima of the standing wave) in a controlled manner via both the incident angle and the relative phase of the incoming laser beams. Some control over the vertical resolution is available through the ability to scan the incoming angle and with it the evanescent penetration depth.

Autonomous power networks based power system

International Nuclear Information System (INIS)

Jokic, A.; Van den Bosch, P.P.J.

2006-01-01

This paper presented the concept of autonomous networks to cope with this increased complexity in power systems while enhancing market-based operation. The operation of future power systems will be more challenging and demanding than present systems because of increased uncertainties, less inertia in the system, replacement of centralized coordinating activities by decentralized parties and the reliance on dynamic markets for both power balancing and system reliability. An autonomous network includes the aggregation of networked producers and consumers in a relatively small area with respect to the overall system. The operation of an autonomous network is coordinated and controlled with one central unit acting as an interface between internal producers/consumers and the rest of the power system. In this study, the power balance problem and system reliability through provision of ancillary services was formulated as an optimization problem for the overall autonomous networks based power system. This paper described the simulation of an optimal autonomous network dispatching in day ahead markets, based on predicted spot prices for real power, and two ancillary services. It was concluded that large changes occur in a power systems structure and operation, most of them adding to the uncertainty and complexity of the system. The introduced concept of an autonomous power network-based power system was shown to be a realistic and consistent approach to formulate and operate a market-based dispatch of both power and ancillary services. 9 refs., 4 figs

Selective effect of physical fatigue on motor imagery accuracy.

Directory of Open Access Journals (Sweden)

Franck Di Rienzo

Full Text Available While the use of motor imagery (the mental representation of an action without overt execution during actual training sessions is usually recommended, experimental studies examining the effect of physical fatigue on subsequent motor imagery performance are sparse and yielded divergent findings. Here, we investigated whether physical fatigue occurring during an intense sport training session affected motor imagery ability. Twelve swimmers (nine males, mean age 15.5 years conducted a 45 min physically-fatiguing protocol where they swam from 70% to 100% of their maximal aerobic speed. We tested motor imagery ability immediately before and after fatigue state. Participants randomly imagined performing a swim turn using internal and external visual imagery. Self-reports ratings, imagery times and electrodermal responses, an index of alertness from the autonomic nervous system, were the dependent variables. Self-reports ratings indicated that participants did not encounter difficulty when performing motor imagery after fatigue. However, motor imagery times were significantly shortened during posttest compared to both pretest and actual turn times, thus indicating reduced timing accuracy. Looking at the selective effect of physical fatigue on external visual imagery did not reveal any difference before and after fatigue, whereas significantly shorter imagined times and electrodermal responses (respectively 15% and 48% decrease, p<0.001 were observed during the posttest for internal visual imagery. A significant correlation (r=0.64; p<0.05 was observed between motor imagery vividness (estimated through imagery questionnaire and autonomic responses during motor imagery after fatigue. These data support that unlike local muscle fatigue, physical fatigue occurring during intense sport training sessions is likely to affect motor imagery accuracy. These results might be explained by the updating of the internal representation of the motor sequence, due to

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.

Autonomous search

CERN Document Server

Hamadi, Youssef; Saubion, Frédéric

2012-01-01

Autonomous combinatorial search (AS) represents a new field in combinatorial problem solving. Its major standpoint and originality is that it considers that problem solvers must be capable of self-improvement operations. This is the first book dedicated to AS.

An Experimental Platform for Autonomous Bus Development

Directory of Open Access Journals (Sweden)

Héctor Montes

2017-11-01

Full Text Available Nowadays, with highly developed instrumentation, sensing and actuation technologies, it is possible to foresee an important advance in the field of autonomous and/or semi-autonomous transportation systems. Intelligent Transport Systems (ITS have been subjected to very active research for many years, and Bus Rapid Transit (BRT is one area of major interest. Among the most promising transport infrastructures, the articulated bus is an interesting, low cost, high occupancy capacity and friendly option. In this paper, an experimental platform for research on the automatic control of an articulated bus is presented. The aim of the platform is to allow full experimentation in real conditions for testing technological developments and control algorithms. The experimental platform consists of a mobile component (a commercial articulated bus fully instrumented and a ground test area composed of asphalt roads inside the Consejo Superior de Investigaciones Científicas (CSIC premises. This paper focuses also on the development of a human machine interface to ease progress in control system evaluation. Some experimental results are presented in order to show the potential of the proposed platform.

Autonomous houses. Autonomous house

Energy Technology Data Exchange (ETDEWEB)

Tanaka, S. (Tokai University, Tokyo (Japan). Faculty of Engineering)

1991-09-30

Self-sufficiency type houses are outlined. On condition that people gain a certain amount of income in relation with the society, they self-suffice under the given environment, allowing themselves to accept a minimum of industrial products with small environmental load. Ordinary supply from outside of fossil energy and materials which depend on it is minimized. Types are classified into three: energy, energy materials and perfect self-sufficiency. A study project for environment symbiotic houses is progressing which is planned by the Ministry of Construction and Institute of Building Energy Conservation and is invested by a private company. Its target is making a house for halving an environmental load by CO{sub 2}, for the purpose of creating the environment symbiotic house which is nice to and in harmony with the global environment and human beings. As a part of the studies on energy-saving and resource conservation on houses, introduced is a plan of an autonomous house at Izu-Atagawa. The passive method and high thermal-insulation are used for air conditioning, and hot spring water for hot water supply. Electric power is generated by hydroelectric power generation using mountain streams and by solar cells. Staple food is purchased, while subsidiary food is sufficed. 17 refs., 4 figs., 1 tab.

Perception, Planning, Control, and Coordination for Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Scott Drew Pendleton

2017-02-01

Full Text Available Autonomous vehicles are expected to play a key role in the future of urban transportation systems, as they offer potential for additional safety, increased productivity, greater accessibility, better road efficiency, and positive impact on the environment. Research in autonomous systems has seen dramatic advances in recent years, due to the increases in available computing power and reduced cost in sensing and computing technologies, resulting in maturing technological readiness level of fully autonomous vehicles. The objective of this paper is to provide a general overview of the recent developments in the realm of autonomous vehicle software systems. Fundamental components of autonomous vehicle software are reviewed, and recent developments in each area are discussed.

Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer

Directory of Open Access Journals (Sweden)

Douglas G. Macharet

2016-12-01

Full Text Available Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs. We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly.

Energy homeostasis, autonomic activity and obesity

NARCIS (Netherlands)

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

1995-01-01

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

Treatment accuracy of hypofractionated spine and other highly conformal IMRT treatments

International Nuclear Information System (INIS)

Sutherland, B.; Hanlon, P.; Charles, P.

2011-01-01

Full text: Spinal cord metastases pose difficult challenges for radiation treatment due to tight dose constraints and a concave PTY. This project aimed to thoroughly test the treatment accuracy of the Eclipse Treatment Planning System (TPS) for highly modulated IMRT treatments, in particular of the thoracic spine, using an Elekta Synergy Linear Accelerator. The increased understanding obtained through different quality assurance techniques allowed recommendations to be made for treatment site commissioning with improved accuracy at the Princess Alexandra Hospital (PAH). Three thoracic spine IMRT plans at the PAH were used for data collection. Complex phantom models were built using CT data, and fields simulated using Monte Carlo modelling. The simulated dose distributions were compared with the TPS using gamma analysis and DYH comparison. High resolution QA was done for all fields using the MatriXX ion chamber array, MapCHECK2 diode array shifted, and the EPlD to determine a procedure for commissioning new treatment sites. Basic spine simulations found the TPS overestimated absorbed dose to bone, however within spinal cord there was good agreement. High resolution QA found the average gamma pass rate of the fields to be 99.1 % for MatriXX, 96.5% for MapCHECK2 shifted and 97.7% for EPlD. Preliminary results indicate agreement between the TPS and delivered dose distributions higher than previously believed for the investigated IMRT plans. The poor resolution of the MatriXX, and normalisation issues with MapCHECK2 leads to probable recommendation of EPlD for future IMRT commissioning due to the high resolution and minimal setup required.

Autonomous motivation: a predictor of treatment outcome in bulimia-spectrum eating disorders.

Science.gov (United States)

Mansour, Sandra; Bruce, Kenneth R; Steiger, Howard; Zuroff, David C; Horowitz, Sarah; Anestin, Annelie S; Sycz, Lindsay

2012-05-01

Individuals with eating disorders are said to be highly ambivalent towards change and thus have difficulty maintaining a commitment to, and motivation for, treatment. Self-Determination Theory postulates that autonomous motivation for therapy exists when individuals view their participation as freely chosen. The present study was designed to ascertain whether or not autonomous motivation was associated with treatment response in individuals with bulimia-spectrum eating disorders (BSED). One hundred and fifty-five women with DSM-IV-TR BSED participated in multimodal group therapy and completed measures to assess motivation, eating and comorbid symptoms. Hierarchical multiple regression analyses demonstrated that higher levels of autonomous motivation at pretreatment predicted lower post-treatment scores on measures of eating preoccupations (shape, weight and eating concerns), binge eating, anxiety/depression, relationship to self and others and impulsivity. These results indicate that autonomous motivation may be an important predictor of outcome following treatment for BSED. Copyright © 2012 John Wiley & Sons, Ltd and Eating Disorders Association.

Autonomous navigation system for mobile robots of inspection

International Nuclear Information System (INIS)

Angulo S, P.; Segovia de los Rios, A.

2005-01-01

One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

Vision Based Autonomous Robot Navigation Algorithms and Implementations

CERN Document Server

Chatterjee, Amitava; Nirmal Singh, N

2013-01-01

This book is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book descri...

Autonomous Alignment Advancements for Eye-safe Coherent Lidar, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Eye-safe coherent lidar technology holds increasing promise of meeting NASA's demanding remote 3D space winds goal near term. Highly autonomous, long-range coherent...

Research Institute for Autonomous Precision Guided Systems

National Research Council Canada - National Science Library

Rogacki, John R

2007-01-01

... vehicles, cooperative flight of autonomous aerial vehicles using GPS and vision information, cooperative and sharing of information in search missions involving multiple autonomous agents, multi-scale...

High accuracy of family history of melanoma in Danish melanoma cases

DEFF Research Database (Denmark)

Wadt, Karin A W; Drzewiecki, Krzysztof T; Gerdes, Anne-Marie

2015-01-01

The incidence of melanoma in Denmark has immensely increased over the last 10 years making Denmark a high risk country for melanoma. In the last two decades multiple public campaigns have sought to increase the awareness of melanoma. Family history of melanoma is a known major risk factor...... but previous studies have shown that self-reported family history of melanoma is highly inaccurate. These studies are 15 years old and we wanted to examine if a higher awareness of melanoma has increased the accuracy of self-reported family history of melanoma. We examined the family history of 181 melanoma...

Mechatronics Design of an Autonomous Pipe-Inspection Robot

Directory of Open Access Journals (Sweden)

Abdellatif Mohamed

2018-01-01

Full Text Available Pipelines require periodical inspection to detect corrosion, deformation and congestion with obstacles in the network. Autonomous mobile robots are good solutions for this task. Visual information from the pipe interior associated with a location stamp is needed for inspection. In this paper, the previous designs of autonomous robots are reviewed and a new robot is developed to ensure simple design and smooth motion. Images are processed online to detect irregularity in pipe and then start capturing high resolution pictures to conserve the limited memory size. The new robot moves in pipes and provides video stream of pipe interior with location stamp. The visual information can later be processed offline to extract more information of pipeline condition to make maintenance decisions.

Monitoring aquatic environments with autonomous systems

DEFF Research Database (Denmark)

Christensen, Jesper Philip Aagaard

High frequency measurements from autonomous sensors have become a widely used tool among aquatic scientists. This report focus primarily on the use of ecosystem metabolism based on high frequency oxygen measurements and relates the calculations to spatial variation, biomass of the primary producers...... and in shallow systems the macrophytes can completely dominate primary production. This was despite the fact that the plants in the studied system were light-saturated most of the light hours and occasionally carbon limited. It was also shown that the GPP and the total phytoplankton biomass in a nutrient...

Autonomic neuropathy-in its many guises-as the initial manifestation of the antiphospholipid syndrome.

Science.gov (United States)

Schofield, Jill R

2017-04-01

Autonomic disorders have previously been described in association with the antiphospholipid syndrome. The present study aimed to determine the clinical phenotype of patients in whom autonomic dysfunction was the initial manifestation of the antiphospholipid syndrome and to evaluate for autonomic neuropathy in these patients. This was a retrospective study of 22 patients evaluated at the University of Colorado who were found to have a disorder of the autonomic nervous system as the initial manifestation of antiphospholipid syndrome. All patients had persistent antiphospholipid antibody positivity and all patients who underwent skin biopsy were found to have reduced sweat gland nerve fiber density suggestive of an autonomic neuropathy. All patients underwent an extensive evaluation to rule out other causes for their autonomic dysfunction. Patients presented with multiple different autonomic disorders, including postural tachycardia syndrome, gastrointestinal dysmotility, and complex regional pain syndrome. Despite most having low-titer IgM antiphospholipid antibodies, 13 of the 22 patients (59%) suffered one or more thrombotic event, but pregnancy morbidity was minimal. Prothrombin-associated antibodies were helpful in confirming the diagnosis of antiphospholipid syndrome. We conclude that autonomic neuropathy may occur in association with antiphospholipid antibodies and may be the initial manifestation of the syndrome. Increased awareness of this association is important, because it is associated with a significant thrombotic risk and a high degree of disability. In addition, anecdotal experience has suggested that antithrombotic therapy and intravenous immunoglobulin therapy may result in significant clinical improvement in these patients.

Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

Science.gov (United States)

2007-11-01

Tolerant Overactuated Autonomous Vehicles Casavola, A.; Garone, E. (2007) Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous ...Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Tolerant Overactuated Autonomous Vehicles 3.2 - 2 RTO-MP-AVT-145 UNCLASSIFIED/UNLIMITED Control allocation problem (CAP) - Given a virtual input v(t

Overfeeding, autonomic regulation and metabolic consequences.

NARCIS (Netherlands)

Scheurink, A.J.W.; Balkan, B; Strubbe, J.H.; van Dijk, G.; Steffens, A.B

The autonomic nervous system plays an important role in the regulation of body processes in health and disease. Overfeeding and obesity (a disproportional increase of the fat mass of the body) are often accompanied by alterations in both sympathetic and parasympathetic autonomic functions. The

High-frequency transformation of a methylotrophic yeast, Candida boidinii, with autonomously replicating plasmids which are also functional in Saccharomyces cerevisiae.

Science.gov (United States)

Sakai, Y; Goh, T K; Tani, Y

1993-06-01

We have developed a transformation system which uses autonomous replicating plasmids for a methylotrophic yeast, Candida boidinii. Two autonomous replication sequences, CARS1 and CARS2, were newly cloned from the genome of C. boidinii. Plasmids having both a CARS fragment and the C. boidinii URA3 gene transformed C. boidinii ura3 cells to Ura+ phenotype at frequencies of up to 10(4) CFU/micrograms of DNA. From Southern blot analysis, CARS plasmids seemed to exist in polymeric forms as well as in monomeric forms in C. boidinii cells. The C. boidinii URA3 gene was overexpressed in C. boidinii on these CARS vectors. CARS1 and CARS2 were found to function as an autonomous replicating element in Saccharomyces cerevisiae as well. Different portions of the CARS1 sequence were needed for autonomous replicating activity in C. boidinii and S. cerevisiae. C. boidinii could also be transformed with vectors harboring a CARS fragment and the S. cerevisiae URA3 gene.

Autonomous Aircraft Operations using RTCA Guidelines for Airborne Conflict Management

Science.gov (United States)

Krishnamurthy, Karthik; Wing, David J.; Barmore, Bryan E.; Barhydt, Richard; Palmer, Michael T.; Johnson, Edward J.; Ballin, Mark G.; Eischeid, Todd M.

2003-01-01

A human-in-the-loop experiment was performed at the NASA Langley Research Center to study the feasibility of DAG-TM autonomous aircraft operations in highly constrained airspace. The airspace was constrained by a pair of special-use airspace (SUA) regions on either side of the pilot's planned route. Traffic flow management (TFM) constraints were imposed as a required time of arrival and crossing altitude at an en route fix. Key guidelines from the RTCA Airborne Conflict Management (ACM) concept were applied to autonomous aircraft operations for this experiment. These concepts included the RTCA ACM definitions of distinct conflict detection and collision avoidance zones, and the use of a graded system of conflict alerts for the flight crew. Three studies were conducted in the course of the experiment. The first study investigated the effect of hazard proximity upon pilot ability to meet constraints and solve conflict situations. The second study investigated pilot use of the airborne tools when faced with an unexpected loss of separation (LOS). The third study explored pilot interactions in an over-constrained conflict situation, with and without priority rules dictating who should move first. Detailed results from these studies were presented at the 5th USA/Europe Air Traffic Management R&D Seminar (ATM2003). This overview paper focuses on the integration of the RTCA ACM concept into autonomous aircraft operations in highly constrained situations, and provides an overview of the results presented at the ATM2003 seminar. These results, together with previously reported studies, continue to support the feasibility of autonomous aircraft operations.

"Little Helper" - An Autonomous Industrial Mobile Manipulator Concept

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Mads Hvilshoj

2011-06-01

Full Text Available This paper presents the concept "autonomous industrial mobile manipulation" (AIMM based on the mobile manipulator "Little Helper" - an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of "Little Helper" from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off‐the‐shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the "Little Helper" concept a full‐scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

AUTONOMOUS LEARNING STRATEGY OF THE SUCCESSFUL NONTRADITIONAL STUDENTS

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Siti Zulaihah

2017-12-01

Full Text Available Most students of English Education Program in STKIP PGRI Ponorogo can be considered as nontraditional students with family, work, and other life responsibilities which have many influences on their educational goals. Autonomous learning is a customized way of learning applied by individual to find out his own learning needs and learning goals, decide the most appropriate way for his own learning, as well as to monitor and evaluate the learning progress. This research used qualitative descriptive method. The primary techniques in data collection were questionnaire, and interview. In general, the most influential motivation for the students was internal motivation. Advisor’s availability, text book, internet, supportive atmosphere, self discipline, cozy and quiet place, and early morning were among the students’ choices for their autonomous learning. They frequently used music, film, video, essay, and smart phone application in their study. In general, the nontraditional students with high achievement were often felt easy to understand the material especially when it was delivered in relatively “easy” language, expressed their opinion bravely, and patient in doing their tasks. They considered friends, best friends, and lecturer as people who were capable to help them in doing autonomous learning

Autonomous Information Fading and Provision to Achieve High Response Time in Distributed Information Systems

Science.gov (United States)

Lu, Xiaodong; Arfaoui, Helene; Mori, Kinji

In highly dynamic electronic commerce environment, the need for adaptability and rapid response time to information service systems has become increasingly important. In order to cope with the continuously changing conditions of service provision and utilization, Faded Information Field (FIF) has been proposed. FIF is a distributed information service system architecture, sustained by push/pull mobile agents to bring high-assurance of services through a recursive demand-oriented provision of the most popular information closer to the users to make a tradeoff between the cost of information service allocation and access. In this paper, based on the analysis of the relationship that exists among the users distribution, information provision and access time, we propose the technology for FIF design to resolve the competing requirements of users and providers to improve users' access time. In addition, to achieve dynamic load balancing with changing users preference, the autonomous information reallocation technology is proposed. We proved the effectiveness of the proposed technology through the simulation and comparison with the conventional system.

Autonomous Vision-Based Tethered-Assisted Rover Docking

Science.gov (United States)

Tsai, Dorian; Nesnas, Issa A.D.; Zarzhitsky, Dimitri

2013-01-01

Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

Autonomic dysfunction in different subtypes of multiple system atrophy.

Science.gov (United States)

Schmidt, Claudia; Herting, Birgit; Prieur, Silke; Junghanns, Susann; Schweitzer, Katherine; Globas, Christoph; Schöls, Ludger; Reichmann, Heinz; Berg, Daniela; Ziemssen, Tjalf

2008-09-15

Multiple system atrophy (MSA) can clinically be divided into the cerebellar (MSA-C) and the parkinsonian (MSA-P) variant. However, till now, it is unknown whether autonomic dysfunction in these two entities differs regarding severity and profile. We compared the pattern of autonomic dysfunction in 12 patients with MSA-C and 26 with MSA-P in comparison with 27 age- and sex-matched healthy controls using a standard battery of autonomic function tests and a structured anamnesis of the autonomic nervous system. MSA-P patients complained significantly more often about the symptoms of autonomic dysfunctions than MSA-C patients, especially regarding vasomotor, secretomotor, and gastrointestinal subsystems. However, regarding cardiovascular, sudomotor pupil, urogenital, and sleep subsystems, there were no significant quantitative or qualitative differences as analyzed by autonomic anamnesis and testing. Our results suggest that there are only minor differences in the pattern of autonomic dysfunction between the two clinical MSA phenotypes. (c) 2007 Movement Disorder Society.

Factors influencing the role of cardiac autonomic regulation in the service of cognitive control.

Science.gov (United States)

Capuana, Lesley J; Dywan, Jane; Tays, William J; Elmers, Jamie L; Witherspoon, Richelle; Segalowitz, Sidney J

2014-10-01

Working from a model of neurovisceral integration, we examined whether adding response contingencies and motivational involvement would increase the need for cardiac autonomic regulation in maintaining effective cognitive control. Respiratory sinus arrhythmia (RSA) was recorded during variants of the Stroop color-word task. The Basic task involved "accepting" congruent items and "rejecting" words printed in incongruent colors (BLUE in red font); an added contingency involved rejecting a particular congruent word (e.g., RED in red font), or a congruent word repeated on an immediately subsequent trial. Motivation was increased by adding a financial incentive phase. Results indicate that pre-task RSA predicted accuracy best when response contingencies required the maintenance of a specific item in memory or on the Basic Stroop task when errors resulted in financial loss. Overall, RSA appeared to be most relevant to performance when the task encouraged a more proactive style of cognitive control, a control strategy thought to be more metabolically costly, and hence, more reliant on flexible cardiac autonomic regulation. Copyright © 2014 Elsevier B.V. All rights reserved.

Autonomous Agents on Expedition: Humans and Progenitor Ants and Planetary Exploration

Science.gov (United States)

Rilee, M. L.; Clark, P. E.; Curtis, S. A.; Truszkowski, W. F.

2002-01-01

The Autonomous Nano-Technology Swarm (ANTS) is an advanced mission architecture based on a social insect analog of many specialized spacecraft working together to achieve mission goals. The principal mission concept driving the ANTS architecture is a Main Belt Asteroid Survey in the 2020s that will involve a thousand or more nano-technology enabled, artificially intelligent, autonomous pico-spacecraft (architecture. High level, mission-oriented behaviors are to be managed by a control / communications layer of the swarm, whereas common low level functions required of all spacecraft, e.g. attitude control and guidance and navigation, are handled autonomically on each spacecraft. At the higher levels of mission planning and social interaction deliberative techniques are to be used. For the asteroid survey, ANTS acts as a large community of cooperative agents while for precursor missions there arises the intriguing possibility of Progenitor ANTS and humans acting together as agents. For optimal efficiency and responsiveness for individual spacecraft at the lowest levels of control we have been studying control methods based on nonlinear dynamical systems. We describe the critically important autonomous control architecture of the ANTS mission concept and a sequence of partial implementations that feature increasingly autonomous behaviors. The scientific and engineering roles that these Progenitor ANTS could play in human missions or remote missions with near real time human interactions, particularly to the Moon and Mars, will be discussed.

Towards the Verification of Safety-critical Autonomous Systems in Dynamic Environments

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Adina Aniculaesei

2016-12-01

Full Text Available There is an increasing necessity to deploy autonomous systems in highly heterogeneous, dynamic environments, e.g. service robots in hospitals or autonomous cars on highways. Due to the uncertainty in these environments, the verification results obtained with respect to the system and environment models at design-time might not be transferable to the system behavior at run time. For autonomous systems operating in dynamic environments, safety of motion and collision avoidance are critical requirements. With regard to these requirements, Macek et al. [6] define the passive safety property, which requires that no collision can occur while the autonomous system is moving. To verify this property, we adopt a two phase process which combines static verification methods, used at design time, with dynamic ones, used at run time. In the design phase, we exploit UPPAAL to formalize the autonomous system and its environment as timed automata and the safety property as TCTL formula and to verify the correctness of these models with respect to this property. For the runtime phase, we build a monitor to check whether the assumptions made at design time are also correct at run time. If the current system observations of the environment do not correspond to the initial system assumptions, the monitor sends feedback to the system and the system enters a passive safe state.

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...

Functional Imaging of Autonomic Regulation: Methods and Key Findings

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Paul M Macey

2016-01-01

Full Text Available Central nervous system processing of autonomic function involves a network of regions throughout the brain which can be visualized and measured with neuroimaging techniques, notably functional magnetic resonance imaging (fMRI. The development of fMRI procedures has both confirmed and extended earlier findings from animal models, and human stroke and lesion studies. Assessments with fMRI can elucidate interactions between different central sites in regulating normal autonomic patterning, and demonstrate how disturbed systems can interact to produce aberrant regulation during autonomic challenges. Understanding autonomic dysfunction in various illnesses reveals mechanisms that potentially lead to interventions in the impairments. The objectives here are to: 1 describe the fMRI neuroimaging methodology for assessment of autonomic neural control, 2 outline the widespread, lateralized distribution of function in autonomic sites in the normal brain which includes structures from the neocortex through the medulla and cerebellum, 3 illustrate the importance of the time course of neural changes when coordinating responses, and how those patterns are impacted in conditions of sleep-disordered breathing, and 4 highlight opportunities for future research studies with emerging methodologies. Methodological considerations specific to autonomic testing include timing of challenges relative to the underlying fMRI signal, spatial resolution sufficient to identify autonomic brainstem nuclei, blood pressure and blood oxygenation influences on the fMRI signal, and the sustained timing, often measured in minutes of challenge periods and recovery. Key findings include the lateralized nature of autonomic organization, which is reminiscent of asymmetric motor, sensory and language pathways. Testing brain function during autonomic challenges demonstrate closely-integrated timing of responses in connected brain areas during autonomic challenges, and the involvement with

High-Accuracy Elevation Data at Large Scales from Airborne Single-Pass SAR Interferometry

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Guy Jean-Pierre Schumann

2016-01-01

Full Text Available Digital elevation models (DEMs are essential data sets for disaster risk management and humanitarian relief services as well as many environmental process models. At present, on the hand, globally available DEMs only meet the basic requirements and for many services and modeling studies are not of high enough spatial resolution and lack accuracy in the vertical. On the other hand, LiDAR-DEMs are of very high spatial resolution and great vertical accuracy but acquisition operations can be very costly for spatial scales larger than a couple of hundred square km and also have severe limitations in wetland areas and under cloudy and rainy conditions. The ideal situation would thus be to have a DEM technology that allows larger spatial coverage than LiDAR but without compromising resolution and vertical accuracy and still performing under some adverse weather conditions and at a reasonable cost. In this paper, we present a novel single pass In-SAR technology for airborne vehicles that is cost-effective and can generate DEMs with a vertical error of around 0.3 m for an average spatial resolution of 3 m. To demonstrate this capability, we compare a sample single-pass In-SAR Ka-band DEM of the California Central Valley from the NASA/JPL airborne GLISTIN-A to a high-resolution LiDAR DEM. We also perform a simple sensitivity analysis to floodplain inundation. Based on the findings of our analysis, we argue that this type of technology can and should be used to replace large regions of globally available lower resolution DEMs, particularly in coastal, delta and floodplain areas where a high number of assets, habitats and lives are at risk from natural disasters. We conclude with a discussion on requirements, advantages and caveats in terms of instrument and data processing.

A Primer on Autonomous Aerial Vehicle Design.

Science.gov (United States)

Coppejans, Hugo H G; Myburgh, Herman C

2015-12-02

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.

An Intention-Driven Semi-autonomous Intelligent Robotic System for Drinking

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Zhijun Zhang

2017-09-01

Full Text Available In this study, an intention-driven semi-autonomous intelligent robotic (ID-SIR system is designed and developed to assist the severely disabled patients to live independently. The system mainly consists of a non-invasive brain–machine interface (BMI subsystem, a robot manipulator and a visual detection and localization subsystem. Different from most of the existing systems remotely controlled by joystick, head- or eye tracking, the proposed ID-SIR system directly acquires the intention from users’ brain. Compared with the state-of-art system only working for a specific object in a fixed place, the designed ID-SIR system can grasp any desired object in a random place chosen by a user and deliver it to his/her mouth automatically. As one of the main advantages of the ID-SIR system, the patient is only required to send one intention command for one drinking task and the autonomous robot would finish the rest of specific controlling tasks, which greatly eases the burden on patients. Eight healthy subjects attended our experiment, which contained 10 tasks for each subject. In each task, the proposed ID-SIR system delivered the desired beverage container to the mouth of the subject and then put it back to the original position. The mean accuracy of the eight subjects was 97.5%, which demonstrated the effectiveness of the ID-SIR system.

Cyber Security Considerations for Autonomous Tactical Wheeled Vehicles

Science.gov (United States)

2016-04-01

Update Will Enable Autonomous Driving. Retrieved August 6, 2015, from http://spectrum.ieee.org/: http://spectrum.ieee.org/ cars -that-think...Cyber Security Considerations for Autonomous Tactical Wheeled Vehicles 1 UNCLASSIFIED Cyber Security Considerations for... Autonomous Tactical Wheeled Vehicles Sebastian C Iovannitti 4/1/2016 Submitted to Lawrence Technological University College of Management in

Exact Solutions for Certain Nonlinear Autonomous Ordinary Differential Equations of the Second Order and Families of Two-Dimensional Autonomous Systems

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M. P. Markakis

2010-01-01

Full Text Available Certain nonlinear autonomous ordinary differential equations of the second order are reduced to Abel equations of the first kind ((Ab-1 equations. Based on the results of a previous work, concerning a closed-form solution of a general (Ab-1 equation, and introducing an arbitrary function, exact one-parameter families of solutions are derived for the original autonomous equations, for the most of which only first integrals (in closed or parametric form have been obtained so far. Two-dimensional autonomous systems of differential equations of the first order, equivalent to the considered herein autonomous forms, are constructed and solved by means of the developed analysis.

May a unitary autonomic index help assess autonomic cardiac regulation in elite athletes? Preliminary observations on the national Italian Olympic committee team.

Science.gov (United States)

Sala, Roberto; Malacarne, Mara; Tosi, Fabio; Benzi, Manuela; Solaro, Nadia; Tamorri, Stefano; Spataro, Antonio; Pagani, Massimo; Lucini, Daniela

2017-12-01

Long term endurance training, as occurring in elite athletes, is associated to cardiac neural remodeling in favor of cardioprotective vagal mechanisms, resulting in resting bradycardia and augmented contribution of cardiac parasympathetic nerve activity. Autonomic assessment can be performed by way of heart rate variability. This technique however provides multiple indices, and there is not yet complete agreement on their specific significance. Purpose of the study was to assess whether a rank transformation and radar plot could provide a unitary autonomic index, capable to show a correlation between intensity of individual work and quality of autonomic regulation. We studied 711 (23.6±6.2 years) elite athletes that took part in the selection procedure for the 2016 Rio Olympic Games for the National Italian Olympic Committee (CONI). Indices from Heart Rate Variability HRV obtained at rest, during standing up and during recovery from an exercise test were used to compute a percent ranked unitary autonomic index for sport (ANSIs), taken as proxy of quality of autonomic regulation. Within the observed wide range of energy expenditure, the unitary autonomic index ANSIs appears significantly correlated to individual and discipline specific training workloads (r=0.25, P<0.001 and r=0.78, P<0.001, respectively), correcting for possible age and gender bias. ANSIs also positively correlates to lipid profile. Estimated intensity of physical activity correlates with quality of cardiac autonomic regulation, as expressed by a novel unitary index of cardiac autonomic regulation. ANSIs could provide a novel and convenient approach to individual autonomic evaluation in athletes.

Recent Advances in Bathymetric Surveying of Continental Shelf Regions Using Autonomous Vehicles

Science.gov (United States)

Holland, K. T.; Calantoni, J.; Slocum, D.

2016-02-01

Obtaining bathymetric observations within the continental shelf in areas closer to the shore is often time consuming and dangerous, especially when uncharted shoals and rocks present safety concerns to survey ships and launches. However, surveys in these regions are critically important to numerical simulation of oceanographic processes, as bathymetry serves as the bottom boundary condition in operational forecasting models. We will present recent progress in bathymetric surveying using both traditional vessels retrofitted for autonomous operations and relatively inexpensive, small team deployable, Autonomous Underwater Vehicles (AUV). Both systems include either high-resolution multibeam echo sounders or interferometric sidescan sonar sensors with integrated inertial navigation system capabilities consistent with present commercial-grade survey operations. The advantages and limitations of these two configurations employing both unmanned and autonomous strategies are compared using results from several recent survey operations. We will demonstrate how sensor data collected from unmanned platforms can augment or even replace traditional data collection technologies. Oceanographic observations (e.g., sound speed, temperature and currents) collected simultaneously with bathymetry using autonomous technologies provide additional opportunities for advanced data assimilation in numerical forecasts. Discussion focuses on our vision for unmanned and autonomous systems working in conjunction with manned or in-situ systems to optimally and simultaneously collect data in environmentally hostile or difficult to reach areas.

Cardiovascular Autonomic Dysfunction in Patients with Morbid Obesity

Science.gov (United States)

de Sant Anna Junior, Maurício; Carneiro, João Regis Ivar; Carvalhal, Renata Ferreira; Torres, Diego de Faria Magalhães; da Cruz, Gustavo Gavina; Quaresma, José Carlos do Vale; Lugon, Jocemir Ronaldo; Guimarães, Fernando Silva

2015-01-01

Background Morbid obesity is directly related to deterioration in cardiorespiratory capacity, including changes in cardiovascular autonomic modulation. Objective This study aimed to assess the cardiovascular autonomic function in morbidly obese individuals. Methods Cross-sectional study, including two groups of participants: Group I, composed by 50 morbidly obese subjects, and Group II, composed by 30 nonobese subjects. The autonomic function was assessed by heart rate variability in the time domain (standard deviation of all normal RR intervals [SDNN]; standard deviation of the normal R-R intervals [SDNN]; square root of the mean squared differences of successive R-R intervals [RMSSD]; and the percentage of interval differences of successive R-R intervals greater than 50 milliseconds [pNN50] than the adjacent interval), and in the frequency domain (high frequency [HF]; low frequency [LF]: integration of power spectral density function in high frequency and low frequency ranges respectively). Between-group comparisons were performed by the Student’s t-test, with a level of significance of 5%. Results Obese subjects had lower values of SDNN (40.0 ± 18.0 ms vs. 70.0 ± 27.8 ms; p = 0.0004), RMSSD (23.7 ± 13.0 ms vs. 40.3 ± 22.4 ms; p = 0.0030), pNN50 (14.8 ± 10.4 % vs. 25.9 ± 7.2%; p = 0.0061) and HF (30.0 ± 17.5 Hz vs. 51.7 ± 25.5 Hz; p = 0.0023) than controls. Mean LF/HF ratio was higher in Group I (5.0 ± 2.8 vs. 1.0 ± 0.9; p = 0.0189), indicating changes in the sympathovagal balance. No statistical difference in LF was observed between Group I and Group II (50.1 ± 30.2 Hz vs. 40.9 ± 23.9 Hz; p = 0.9013). Conclusion morbidly obese individuals have increased sympathetic activity and reduced parasympathetic activity, featuring cardiovascular autonomic dysfunction. PMID:26536979

PHM Enabled Autonomous Propellant Loading Operations

Science.gov (United States)

Walker, Mark; Figueroa, Fernando

2017-01-01

The utility of Prognostics and Health Management (PHM) software capability applied to Autonomous Operations (AO) remains an active research area within aerospace applications. The ability to gain insight into which assets and subsystems are functioning properly, along with the derivation of confident predictions concerning future ability, reliability, and availability, are important enablers for making sound mission planning decisions. When coupled with software that fully supports mission planning and execution, an integrated solution can be developed that leverages state assessment and estimation for the purposes of delivering autonomous operations. The authors have been applying this integrated, model-based approach to the autonomous loading of cryogenic spacecraft propellants at Kennedy Space Center.

TU-FG-201-04: Computer Vision in Autonomous Quality Assurance of Linear Accelerators

Energy Technology Data Exchange (ETDEWEB)

Yu, H; Jenkins, C; Yu, S; Yang, Y; Xing, L [Stanford University, Stanford, CA (United States)

2016-06-15

Purpose: Routine quality assurance (QA) of linear accelerators represents a critical and costly element of a radiation oncology center. Recently, a system was developed to autonomously perform routine quality assurance on linear accelerators. The purpose of this work is to extend this system and contribute computer vision techniques for obtaining quantitative measurements for a monthly multi-leaf collimator (MLC) QA test specified by TG-142, namely leaf position accuracy, and demonstrate extensibility for additional routines. Methods: Grayscale images of a picket fence delivery on a radioluminescent phosphor coated phantom are captured using a CMOS camera. Collected images are processed to correct for camera distortions, rotation and alignment, reduce noise, and enhance contrast. The location of each MLC leaf is determined through logistic fitting and a priori modeling based on knowledge of the delivered beams. Using the data collected and the criteria from TG-142, a decision is made on whether or not the leaf position accuracy of the MLC passes or fails. Results: The locations of all MLC leaf edges are found for three different picket fence images in a picket fence routine to 0.1mm/1pixel precision. The program to correct for image alignment and determination of leaf positions requires a runtime of 21– 25 seconds for a single picket, and 44 – 46 seconds for a group of three pickets on a standard workstation CPU, 2.2 GHz Intel Core i7. Conclusion: MLC leaf edges were successfully found using techniques in computer vision. With the addition of computer vision techniques to the previously described autonomous QA system, the system is able to quickly perform complete QA routines with minimal human contribution.

Autonomous Control of Space Reactor Systems

International Nuclear Information System (INIS)

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

2007-01-01

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

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.

The treatment of autonomic dysfunction in tetanus

Directory of Open Access Journals (Sweden)

T van den Heever

2017-07-01

Full Text Available We report a case of generalised tetanus in a 50-year-old female patient after sustaining a wound to her right lower leg. She developed autonomic dysfunction, which included labile hypertension alternating with hypotension and sweating. The autonomic dysfunction was treated successfully with a combination of morphine sulphate infusion, magnesium sulphate, and clonidine. She also received adrenaline and phenylephrine infusions as needed for hypotension. We then discuss the pathophysiology, clinical features and treatment options of autonomic dysfunction.

Autonomous System Technologies for Resilient Airspace Operations

Science.gov (United States)

Houston, Vincent E.; Le Vie, Lisa R.

2017-01-01

Increasing autonomous systems within the aircraft cockpit begins with an effort to understand what autonomy is and developing the technology that encompasses it. Autonomy allows an agent, human or machine, to act independently within a circumscribed set of goals; delegating responsibility to the agent(s) to achieve overall system objective(s). Increasingly Autonomous Systems (IAS) are the highly sophisticated progression of current automated systems toward full autonomy. Working in concert with humans, these types of technologies are expected to improve the safety, reliability, costs, and operational efficiency of aviation. IAS implementation is imminent, which makes the development and the proper performance of such technologies, with respect to cockpit operation efficiency, the management of air traffic and data communication information, vital. A prototype IAS agent that attempts to optimize the identification and distribution of "relevant" air traffic data to be utilized by human crews during complex airspace operations has been developed.

The science of autonomy: integrating autonomous systems with the ISR enterprise

Science.gov (United States)

Creech, Gregory S.

2013-05-01

Consider a future where joint, unmanned operations are the norm. A fleet of autonomous airborne systems conducts overwatch and surveillance for their land and sea brethren, accurately reporting adversary position and aptly guiding the group of autonomous land and sea warriors into position to conduct a successful takedown. Sounds a bit like science fiction, but reality is just around the corner. The DoD ISR Enterprise has evolved significantly over the past decade and has learned many a harsh lesson along the way. Autonomous system operations supporting the warfighter have also evolved, arguably to a point where integration into the ISR Enterprise is a must, in order to reap the benefits that these highly capable systems possess. Achieving meaningful integration, however, is not without its challenges. The ISR Enterprise, for example, is still plagued with "stovepipe" efforts - sufficiently filling a niche for an immediate customer need, but doing little to service the needs of the greater enterprise. This paper will examine the science of autonomy, the challenges and potential benefits that it brings to the ISR Enterprise and recommendations that will facilitate smooth integration of emerging autonomous systems with the mature suite of traditional manned and unmanned ISR platforms.

SyPRID sampler: A large-volume, high-resolution, autonomous, deep-ocean precision plankton sampling system

Science.gov (United States)

Billings, Andrew; Kaiser, Carl; Young, Craig M.; Hiebert, Laurel S.; Cole, Eli; Wagner, Jamie K. S.; Van Dover, Cindy Lee

2017-03-01

The current standard for large-volume (thousands of cubic meters) zooplankton sampling in the deep sea is the MOCNESS, a system of multiple opening-closing nets, typically lowered to within 50 m of the seabed and towed obliquely to the surface to obtain low-spatial-resolution samples that integrate across 10 s of meters of water depth. The SyPRID (Sentry Precision Robotic Impeller Driven) sampler is an innovative, deep-rated (6000 m) plankton sampler that partners with the Sentry Autonomous Underwater Vehicle (AUV) to obtain paired, large-volume plankton samples at specified depths and survey lines to within 1.5 m of the seabed and with simultaneous collection of sensor data. SyPRID uses a perforated Ultra-High-Molecular-Weight (UHMW) plastic tube to support a fine mesh net within an outer carbon composite tube (tube-within-a-tube design), with an axial flow pump located aft of the capture filter. The pump facilitates flow through the system and reduces or possibly eliminates the bow wave at the mouth opening. The cod end, a hollow truncated cone, is also made of UHMW plastic and includes a collection volume designed to provide an area where zooplankton can collect, out of the high flow region. SyPRID attaches as a saddle-pack to the Sentry vehicle. Sentry itself is configured with a flight control system that enables autonomous survey paths to low altitudes. In its verification deployment at the Blake Ridge Seep (2160 m) on the US Atlantic Margin, SyPRID was operated for 6 h at an altitude of 5 m. It recovered plankton samples, including delicate living larvae, from the near-bottom stratum that is seldom sampled by a typical MOCNESS tow. The prototype SyPRID and its next generations will enable studies of plankton or other particulate distributions associated with localized physico-chemical strata in the water column or above patchy habitats on the seafloor.

Swarm autonomic agents with self-destruct capability

Science.gov (United States)

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

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.

F-18-FDG-PET in autonomous goiter

International Nuclear Information System (INIS)

Boerner, A.R.; Voth, E.; Schicha, H.

1999-01-01

Aim: Gain-of-function mutations of the thyrotropin receptor (TSHR) gene have been invoked as one of the major causes of toxic thyroid adenomas. This study evaluates F-18-FDG-PET in these patients. Methods: Twenty patients with focal autonomous nodules and ten with disseminated autonomy were investigated the day before radioiodine therapy. Twenty patients with cancer of the head or neck and normal thyroid function served as controls. Results: F-18-FDG-Uptake was higher in patients than in controls. Focal autonomous nodules were associated with focally enhanced glucose metabolism. Disseminated autonomous goiters showed various patterns of focal or global hypermetabolism. Conclusion: Autonomous thyroid tissue caused by constitutive mutations of the TSH receptor is characterised by simultaneous increases in glucose and iodine metabolism which are correlated. (orig.) [de

Combined moderate and high intensity exercise with dietary restriction improves cardiac autonomic function associated with a reduction in central and systemic arterial stiffness in obese adults: a clinical trial

Directory of Open Access Journals (Sweden)

Min Hu

2017-10-01

Full Text Available Objective The present study aimed to assess the effects of exercise with dietary restriction on cardiac autonomic activity, arterial stiffness, and cardiovascular biomarkers in obese individuals. Methods Seventeen obese adults completed an 8-week exercise and dietary program. Anthropometry, body composition, and multiple biochemical markers were measured. We used carotid-femoral pulse wave velocity (cfPWV, brachial-ankle pulse wave velocity (baPWV, central blood pressure, and augmentation index (AIx to assess arterial stiffness. To determine cardiac autonomic activity, heart rate variability (HRV was analyzed by standard deviation of normal-to-normal intervals (SDNN, square root of the mean squared differences of successive normal-to-normal intervals (RMSSD, total power (TF, low-frequency power in normalized units (LFnu, high-frequency power in normalized units (HFnu, and low-frequency power/high-frequency power (LF/HF. Results Following the exercise and diet intervention, obese subjects had significant reductions in body weight, body mass index, body fat percentage, brachial systolic blood pressure, and resting heart rate, and they had shown improvements in blood chemistry markers such as lipid profiles, insulin, and high-sensitivity C-reactive protein. There was a significant reduction in both cfPWV and baPWV following the intervention when compared to baseline levels. Moreover, the AIx and aortic systolic blood pressure were significantly reduced after the intervention. The diet and exercise intervention significantly increased cardiac autonomic modulation (determined by improved SDNN, RMSSD, TP LF, HF, and LF/HF, which was partly due to changes in heart rate, insulin resistance, and the inflammatory pattern. Furthermore, we observed a correlation between enhanced cardiac autonomic modulation (LF/HF and decreased arterial stiffness, as measured by central cfPWV and systemic baPWV. Discussion An 8-week combined intervention of diet and

Autonomic and Apoptotic, Aeronautical and Aerospace Systems, and Controlling Scientific Data Generated Therefrom

Science.gov (United States)

Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor)

2015-01-01

A self-managing system that uses autonomy and autonomicity is provided with the self-* property of autopoiesis (self-creation). In the event of an agent in the system self-destructing, autopoiesis auto-generates a replacement. A self-esteem reward scheme is also provided and can be used for autonomic agents, based on their performance and trust. Art agent with greater self-esteem may clone at a greater rate compared to the rate of an agent with lower self-esteem. A self-managing system is provided for a high volume of distributed autonomic/self-managing mobile agents, and autonomic adhesion is used to attract similar agents together or to repel dissimilar agents from an event horizon. An apoptotic system is also provided that accords an "expiry date" to data and digital objects, for example, that are available on the internet, which finds usefulness not only in general but also for controlling the loaning and use of space scientific data.

High accuracy of family history of melanoma in Danish melanoma cases.

Science.gov (United States)

Wadt, Karin A W; Drzewiecki, Krzysztof T; Gerdes, Anne-Marie

2015-12-01

The incidence of melanoma in Denmark has immensely increased over the last 10 years making Denmark a high risk country for melanoma. In the last two decades multiple public campaigns have sought to increase the awareness of melanoma. Family history of melanoma is a known major risk factor but previous studies have shown that self-reported family history of melanoma is highly inaccurate. These studies are 15 years old and we wanted to examine if a higher awareness of melanoma has increased the accuracy of self-reported family history of melanoma. We examined the family history of 181 melanoma probands who reported 199 cases of melanoma in relatives, of which 135 cases where in first degree relatives. We confirmed the diagnosis of melanoma in 77% of all relatives, and in 83% of first degree relatives. In 181 probands we validated the negative family history of melanoma in 748 first degree relatives and found only 1 case of melanoma which was not reported in a 3 case melanoma family. Melanoma patients in Denmark report family history of melanoma in first and second degree relatives with a high level of accuracy with a true positive predictive value between 77 and 87%. In 99% of probands reporting a negative family history of melanoma in first degree relatives this information is correct. In clinical practice we recommend that melanoma diagnosis in relatives should be verified if possible, but even unverified reported melanoma cases in relatives should be included in the indication of genetic testing and assessment of melanoma risk in the family.

Fission product model for BWR analysis with improved accuracy in high burnup

International Nuclear Information System (INIS)

Ikehara, Tadashi; Yamamoto, Munenari; Ando, Yoshihira

1998-01-01

A new fission product (FP) chain model has been studied to be used in a BWR lattice calculation. In attempting to establish the model, two requirements, i.e. the accuracy in predicting burnup reactivity and the easiness in practical application, are simultaneously considered. The resultant FP model consists of 81 explicit FP nuclides and two lumped pseudo nuclides having the absorption cross sections independent of burnup history and fuel composition. For the verification, extensive numerical tests covering over a wide range of operational conditions and fuel compositions have been carried out. The results indicate that the estimated errors in burnup reactivity are within 0.1%Δk for exposures up to 100GWd/t. It is concluded that the present model can offer a high degree of accuracy for FP representation in BWR lattice calculation. (author)

Bilateral human-robot control for semi-autonomous UAV navigation

NARCIS (Netherlands)

Wopereis, Han Willem; Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

2015-01-01

This paper proposes a semi-autonomous bilateral control architecture for unmanned aerial vehicles. During autonomous navigation, a human operator is allowed to assist the autonomous controller of the vehicle by actively changing its navigation parameters to assist it in critical situations, such as

Effects of insula resection on autonomic nervous system activity

NARCIS (Netherlands)

de Morree, Helma; Rutten, Geert-Jan; Szabo, B.M.; Sitskoorn, Margriet; Kop, Wijo

2016-01-01

Background: The insula is an essential component of the central autonomic network and plays a critical role in autonomic regulation in response to environmental stressors. The role of the insula in human autonomic regulation has been primarily investigated following cerebrovascular accidents, but

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).

Diagnostic accuracy of cone-beam computed tomography scans with high- and low-resolution modes for the detection of root perforations.

Science.gov (United States)

Shokri, Abbas; Eskandarloo, Amir; Norouzi, Marouf; Poorolajal, Jalal; Majidi, Gelareh; Aliyaly, Alireza

2018-03-01

This study compared the diagnostic accuracy of cone-beam computed tomography (CBCT) scans obtained with 2 CBCT systems with high- and low-resolution modes for the detection of root perforations in endodontically treated mandibular molars. The root canals of 72 mandibular molars were cleaned and shaped. Perforations measuring 0.2, 0.3, and 0.4 mm in diameter were created at the furcation area of 48 roots, simulating strip perforations, or on the external surfaces of 48 roots, simulating root perforations. Forty-eight roots remained intact (control group). The roots were filled using gutta-percha (Gapadent, Tianjin, China) and AH26 sealer (Dentsply Maillefer, Ballaigues, Switzerland). The CBCT scans were obtained using the NewTom 3G (QR srl, Verona, Italy) and Cranex 3D (Soredex, Helsinki, Finland) CBCT systems in high- and low-resolution modes, and were evaluated by 2 observers. The chi-square test was used to assess the nominal variables. In strip perforations, the accuracies of low- and high-resolution modes were 75% and 83% for NewTom 3G and 67% and 69% for Cranex 3D. In root perforations, the accuracies of low- and high-resolution modes were 79% and 83% for NewTom 3G and was 56% and 73% for Cranex 3D. The accuracy of the 2 CBCT systems was different for the detection of strip and root perforations. The Cranex 3D had non-significantly higher accuracy than the NewTom 3G. In both scanners, the high-resolution mode yielded significantly higher accuracy than the low-resolution mode. The diagnostic accuracy of CBCT scans was not affected by the perforation diameter.

Demonstration of Autonomous Rendezvous Technology (DART) Project Summary

Science.gov (United States)

Rumford, TImothy E.

2003-01-01

Since the 1960's, NASA has performed numerous rendezvous and docking missions. The common element of all US rendezvous and docking is that the spacecraft has always been piloted by astronauts. Only the Russian Space Program has developed and demonstrated an autonomous capability. The Demonstration of Autonomous Rendezvous Technology (DART) project currently funded under NASA's Space Launch Initiative (SLI) Cycle I, provides a key step in establishing an autonomous rendezvous capability for the United States. DART's objective is to demonstrate, in space, the hardware and software necessary for autonomous rendezvous. Orbital Sciences Corporation intends to integrate an Advanced Video Guidance Sensor and Autonomous Rendezvous and Proximity Operations algorithms into a Pegasus upper stage in order to demonstrate the capability to autonomously rendezvous with a target currently in orbit. The DART mission will occur in April 2004. The launch site will be Vandenburg AFB and the launch vehicle will be a Pegasus XL equipped with a Hydrazine Auxiliary Propulsion System 4th stage. All mission objectives will be completed within a 24 hour period. The paper provides a summary of mission objectives, mission overview and a discussion on the design features of the chase and target vehicles.

Examining accident reports involving autonomous vehicles in California.

Directory of Open Access Journals (Sweden)

Francesca M Favarò

Full Text Available Autonomous Vehicle technology is quickly expanding its market and has found in Silicon Valley, California, a strong foothold for preliminary testing on public roads. In an effort to promote safety and transparency to consumers, the California Department of Motor Vehicles has mandated that reports of accidents involving autonomous vehicles be drafted and made available to the public. The present work shows an in-depth analysis of the accident reports filed by different manufacturers that are testing autonomous vehicles in California (testing data from September 2014 to March 2017. The data provides important information on autonomous vehicles accidents' dynamics, related to the most frequent types of collisions and impacts, accident frequencies, and other contributing factors. The study also explores important implications related to future testing and validation of semi-autonomous vehicles, tracing the investigation back to current literature as well as to the current regulatory panorama.

Examining accident reports involving autonomous vehicles in California.

Science.gov (United States)

Favarò, Francesca M; Nader, Nazanin; Eurich, Sky O; Tripp, Michelle; Varadaraju, Naresh

2017-01-01

Autonomous Vehicle technology is quickly expanding its market and has found in Silicon Valley, California, a strong foothold for preliminary testing on public roads. In an effort to promote safety and transparency to consumers, the California Department of Motor Vehicles has mandated that reports of accidents involving autonomous vehicles be drafted and made available to the public. The present work shows an in-depth analysis of the accident reports filed by different manufacturers that are testing autonomous vehicles in California (testing data from September 2014 to March 2017). The data provides important information on autonomous vehicles accidents' dynamics, related to the most frequent types of collisions and impacts, accident frequencies, and other contributing factors. The study also explores important implications related to future testing and validation of semi-autonomous vehicles, tracing the investigation back to current literature as well as to the current regulatory panorama.

Examining accident reports involving autonomous vehicles in California

Science.gov (United States)

Nader, Nazanin; Eurich, Sky O.; Tripp, Michelle; Varadaraju, Naresh

2017-01-01

Autonomous Vehicle technology is quickly expanding its market and has found in Silicon Valley, California, a strong foothold for preliminary testing on public roads. In an effort to promote safety and transparency to consumers, the California Department of Motor Vehicles has mandated that reports of accidents involving autonomous vehicles be drafted and made available to the public. The present work shows an in-depth analysis of the accident reports filed by different manufacturers that are testing autonomous vehicles in California (testing data from September 2014 to March 2017). The data provides important information on autonomous vehicles accidents’ dynamics, related to the most frequent types of collisions and impacts, accident frequencies, and other contributing factors. The study also explores important implications related to future testing and validation of semi-autonomous vehicles, tracing the investigation back to current literature as well as to the current regulatory panorama. PMID:28931022

Adaptive Oceanographic Sampling in a Coastal Environmental Using Autonomous Gliding Vehicles

National Research Council Canada - National Science Library

Fratantoni, David

2004-01-01

Our long-term goal is to develop an efficient, relocatable, infrastructure-free ocean observing system composed of high-endurance, low-cost autonomous vehicles with near-global range and modular sensor payload...

Factors Determining the Inter-observer Variability and Diagnostic Accuracy of High-resolution Manometry for Esophageal Motility Disorders.

Science.gov (United States)

Kim, Ji Hyun; Kim, Sung Eun; Cho, Yu Kyung; Lim, Chul-Hyun; Park, Moo In; Hwang, Jin Won; Jang, Jae-Sik; Oh, Minkyung

2018-01-30

Although high-resolution manometry (HRM) has the advantage of visual intuitiveness, its diagnostic validity remains under debate. The aim of this study was to evaluate the diagnostic accuracy of HRM for esophageal motility disorders. Six staff members and 8 trainees were recruited for the study. In total, 40 patients enrolled in manometry studies at 3 institutes were selected. Captured images of 10 representative swallows and a single swallow in analyzing mode in both high-resolution pressure topography (HRPT) and conventional line tracing formats were provided with calculated metrics. Assessments of esophageal motility disorders showed fair agreement for HRPT and moderate agreement for conventional line tracing (κ = 0.40 and 0.58, respectively). With the HRPT format, the k value was higher in category A (esophagogastric junction [EGJ] relaxation abnormality) than in categories B (major body peristalsis abnormalities with intact EGJ relaxation) and C (minor body peristalsis abnormalities or normal body peristalsis with intact EGJ relaxation). The overall exact diagnostic accuracy for the HRPT format was 58.8% and rater's position was an independent factor for exact diagnostic accuracy. The diagnostic accuracy for major disorders was 63.4% with the HRPT format. The frequency of major discrepancies was higher for category B disorders than for category A disorders (38.4% vs 15.4%; P < 0.001). The interpreter's experience significantly affected the exact diagnostic accuracy of HRM for esophageal motility disorders. The diagnostic accuracy for major disorders was higher for achalasia than distal esophageal spasm and jackhammer esophagus.

DIRECT GEOREFERENCING : A NEW STANDARD IN PHOTOGRAMMETRY FOR HIGH ACCURACY MAPPING

Directory of Open Access Journals (Sweden)

A. Rizaldy

2012-07-01

Full Text Available Direct georeferencing is a new method in photogrammetry, especially in the digital camera era. Theoretically, this method does not require ground control points (GCP and the Aerial Triangulation (AT, to process aerial photography into ground coordinates. Compared with the old method, this method has three main advantages: faster data processing, simple workflow and less expensive project, at the same accuracy. Direct georeferencing using two devices, GPS and IMU. GPS recording the camera coordinates (X, Y, Z, and IMU recording the camera orientation (omega, phi, kappa. Both parameters merged into Exterior Orientation (EO parameter. This parameters required for next steps in the photogrammetric projects, such as stereocompilation, DSM generation, orthorectification and mosaic. Accuracy of this method was tested on topographic map project in Medan, Indonesia. Large-format digital camera Ultracam X from Vexcel is used, while the GPS / IMU is IGI AeroControl. 19 Independent Check Point (ICP were used to determine the accuracy. Horizontal accuracy is 0.356 meters and vertical accuracy is 0.483 meters. Data with this accuracy can be used for 1:2.500 map scale project.

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.

Autonomic symptoms in idiopathic REM behavior disorder: a multicentre case-control study.

Science.gov (United States)

Ferini-Strambi, Luigi; Oertel, Wolfgang; Dauvilliers, Yves; Postuma, Ronald B; Marelli, Sara; Iranzo, Alex; Arnulf, Isabelle; Högl, Birgit; Birgit, Högl; Manni, Raffaele; Miyamoto, Tomoyuki; Fantini, Maria-Livia; Puligheddu, Monica; Jennum, Poul; Sonka, Karel; Santamaria, Joan; Zucconi, Marco; Rancoita, Paola M V; Leu-Semenescu, Smeranda; Frauscher, Birgit; Terzaghi, Michele; Miyamoto, Masayuki; Unger, Marcus; Stiasny-Kolster, Karin; Desautels, Alex; Wolfson, Christina; Pelletier, Amélie; Montplaisir, Jacques

2014-06-01

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, and sexual dysfunction. Our results show that compared to control subjects with a similar overall age and sex distribution, patients with iRBD experience significantly more problems with gastrointestinal, urinary, and cardiovascular functioning. The most prominent differences in severity of autonomic symptoms between our iRBD patients and controls emerged in the gastrointestinal domain. Interestingly, it has been reported that an altered gastrointestinal motility can predate the motor phase of PD. The cardiovascular domain SCOPA-AUT score in our study in iRBD patients was intermediate with respect to the scores reported in PD patients by other authors. Our findings underline the importance of collecting data on autonomic symptoms in iRBD. These data may be used in prospective studies for evaluating the risk of developing neurodegenerative disorders.

Autonomous Control Capabilities for Space Reactor Power Systems

International Nuclear Information System (INIS)

Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

2004-01-01

The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission

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.

Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

Directory of Open Access Journals (Sweden)

Hongbo Gao

2017-12-01

Full Text Available Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control technique of autonomous vehicle is basic theory and one key complex technique which must have the reliability and precision of vehicle controller. The longitudinal control technique is one of the foundations of the safety and stability of autonomous vehicle control. In our paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. The longitudinal control algorithm mainly uses cloud model generator to control the acceleration of the autonomous vehicle to achieve the goal that controls the speed of Mengshi autonomous vehicle. The proposed longitudinal control algorithm based on cloud model is verified by real experiments on Highway driving scene. The experiments results of the acceleration and speed show that the algorithm is validity and stability.

Biologically-Inspired Concepts for Autonomic Self-Protection in Multiagent Systems

Science.gov (United States)

Sterritt, Roy; Hinchey, Mike

2006-01-01

Biologically-inspired autonomous and autonomic systems (AAS) are essentially concerned with creating self-directed and self-managing systems based on metaphors &om nature and the human body, such as the autonomic nervous system. Agent technologies have been identified as a key enabler for engineering autonomy and autonomicity in systems, both in terms of retrofitting into legacy systems and in designing new systems. Handing over responsibility to systems themselves raises concerns for humans with regard to safety and security. This paper reports on the continued investigation into a strand of research on how to engineer self-protection mechanisms into systems to assist in encouraging confidence regarding security when utilizing autonomy and autonomicity. This includes utilizing the apoptosis and quiescence metaphors to potentially provide a self-destruct or self-sleep signal between autonomic agents when needed, and an ALice signal to facilitate self-identification and self-certification between anonymous autonomous agents and systems.

High-accuracy identification and bioinformatic analysis of in vivo protein phosphorylation sites in yeast

DEFF Research Database (Denmark)

Gnad, Florian; de Godoy, Lyris M F; Cox, Jürgen

2009-01-01

Protein phosphorylation is a fundamental regulatory mechanism that affects many cell signaling processes. Using high-accuracy MS and stable isotope labeling in cell culture-labeling, we provide a global view of the Saccharomyces cerevisiae phosphoproteome, containing 3620 phosphorylation sites ma...

Autonomic dysfunction in cirrhosis and portal hypertension

DEFF Research Database (Denmark)

Dümcke, Christine Winkler; Møller, Søren

2008-01-01

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

Symmetries and solutions of the non-autonomous von Bertalanffy equation

Science.gov (United States)

Edwards, Maureen P.; Anderssen, Robert S.

2015-05-01

For growth in a closed environment, which is indicative of the situation in laboratory experiments, autonomous ODE models do not necessarily capture the dynamics under investigation. The importance and impact of a closed environment arise when the question under examination relates, for example, to the number of the surviving microbes, such as in a study of the spoilage and contamination of food, the gene silencing activity of fungi or the production of a chemical compound by bacteria or fungi. Autonomous ODE models are inappropriate as they assume that only the current size of the population controls the growth-decay dynamics. This is reflected in the fact that, asymptotically, their solutions can only grow or decay monotonically or asymptote. Non-autonomous ODE models are not so constrained. A natural strategy for the choice of non-autonomous ODEs is to take appropriate autonomous ones and change them to be non-autonomous through the introduction of relevant non-autonomous terms. This is the approach in this paper with the focus being the von Bertalanffy equation. Since this equation has independent importance in relation to practical applications in growth modelling, it is natural to explore the deeper relationships between the introduced non-autonomous terms through a symmetry analysis, which is the purpose and goal of the current paper. Infinitesimals are derived which allow particular forms of the non-autonomous von Bertalanffy equation to be transformed into autonomous forms for which some new analytic solutions have been found.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots.

Science.gov (United States)

Sherwin, Tyrone; Easte, Mikala; Chen, Andrew Tzer-Yeu; Wang, Kevin I-Kai; Dai, Wenbin

2018-02-14

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots

Directory of Open Access Journals (Sweden)

Tyrone Sherwin

2018-02-01

Full Text Available Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

Autonomy Level Specification for Intelligent Autonomous Vehicles

Science.gov (United States)

2003-09-01

Autonomy Level Specification for Intelligent Autonomous Vehicles : Interim Progress Report Hui-Min Huang, Elena Messina, James Albus...Level Specification for Intelligent Autonomous Vehicles : Interim Progress Report 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

CSIR eNews: Mobile Intelligent Autonomous Systems

CSIR Research Space (South Africa)

CSIR

2008-03-01

Full Text Available autonomous systems Distinguished scientist from India to share knowledge with CSIR An esteemed scientist from India, Dr Jitendra Raol, will spend the next 14 months at the CSIR, specifically in the mobile intelligence autonomous systems (MIAS) emerging...

A Study on the Influence of Home Environment on Autonomous Motivation Toward Study in Junior High School Students : Focus on Father's Home Participation and Marital Relationship

OpenAIRE

尾形, 和男

2015-01-01

This research aimed at considering the influence which the marital relationship based on a father's home participation has on a child's autonomous motivation toward study. 334 university students（mean age 19.22 years）completed questionnaires designed to investigate the relation among marital relationships, father's and mother's autonomous motivation to their children's study, autonomous support, children's motivational traits, and children's autonomous motivation toward study in their junior ...

High Accuracy Mass Measurement of the Dripline Nuclides $^{12,14}$Be

CERN Multimedia

2002-01-01

State-of-the art, three-body nuclear models that describe halo nuclides require the binding energy of the halo neutron(s) as a critical input parameter. In the case of $^{14}$Be, the uncertainty of this quantity is currently far too large (130 keV), inhibiting efforts at detailed theoretical description. A high accuracy, direct mass deterlnination of $^{14}$Be (as well as $^{12}$Be to obtain the two-neutron separation energy) is therefore required. The measurement can be performed with the MISTRAL spectrometer, which is presently the only possible solution due to required accuracy (10 keV) and short half-life (4.5 ms). Having achieved a 5 keV uncertainty for the mass of $^{11}$Li (8.6 ms), MISTRAL has proved the feasibility of such measurements. Since the current ISOLDE production rate of $^{14}$Be is only about 10/s, the installation of a beam cooler is underway in order to improve MISTRAL transmission. The projected improvement of an order of magnitude (in each transverse direction) will make this measureme...

High Accuracy Beam Current Monitor System for CEBAF'S Experimental Hall A

International Nuclear Information System (INIS)

J. Denard; A. Saha; G. Lavessiere

2001-01-01

CEBAF accelerator delivers continuous wave (CW) electron beams to three experimental Halls. In Hall A, all experiments require continuous, non-invasive current measurements and a few experiments require an absolute accuracy of 0.2 % in the current range from 1 to 180 (micro)A. A Parametric Current Transformer (PCT), manufactured by Bergoz, has an accurate and stable sensitivity of 4 (micro)A/V but its offset drifts at the muA level over time preclude its direct use for continuous measurements. Two cavity monitors are calibrated against the PCT with at least 50 (micro)A of beam current. The calibration procedure suppresses the error due to PCT's offset drifts by turning the beam on and off, which is invasive to the experiment. One of the goals of the system is to minimize the calibration time without compromising the measurement's accuracy. The linearity of the cavity monitors is a critical parameter for transferring the accurate calibration done at high currents over the whole dynamic range. The method for measuring accurately the linearity is described

Powering Autonomous Sensors An Integral Approach with Focus on Solar and RF Energy Harvesting

CERN Document Server

Penella-López, María Teresa

2011-01-01

Autonomous sensors transmit data and power their electronics without using cables. They can be found in e.g. wireless sensor networks (WSNs) or remote acquisition systems. Although primary batteries provide a simple design for powering autonomous sensors, they present several limitations such as limited capacity and power density, and difficulty in predicting their condition and state of charge. An alternative is to extract energy from the ambient (energy harvesting). However, the reduced dimensions of most autonomous sensors lead to a low level of available power from the energy transducer. Thus, efficient methods and circuits to manage and gather the energy are a must. An integral approach for powering autonomous sensors by considering both primary batteries and energy harvesters is presented. Two rather different forms of energy harvesting are also dealt with: optical (or solar) and radiofrequency (RF). Optical energy provides high energy density, especially outdoors, whereas RF remote powering is possibly...

12th International Conference on Intelligent Autonomous Systems

CERN Document Server

Cho, Hyungsuck; Yoon, Kwang-Joon; Lee, Jangmyung

2013-01-01

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 ...

Cardiovascular autonomic function in Cushing's syndrome.

Science.gov (United States)

Fallo, F; Maffei, P; Dalla Pozza, A; Carli, M; Della Mea, P; Lupia, M; Rabbia, F; Sonino, N

2009-01-01

Cardiac autonomic dysfunction is associated with increased cardiovascular mortality. No data on sympathovagal balance are available in patients with Cushing's syndrome, in whom cardiovascular risk is high. We studied 10 patients with newly diagnosed Cushing's syndrome (1 male/9 females; age mean+/-SD, 47+/-10 yr) and 10 control subjects matched for age, sex, body mass index, and cardiovascular risk factors. In both groups there were 7 patients with arterial hypertension, 3 with diabetes mellitus, and 2 with obesity. Cardiac autonomic function was evaluated by analysis of short time heart rate variability (HRV) measures in frequency domain over 24-h, daytime, and nighttime. The 24-h ambulatory blood pressure monitoring and echocardiography were also performed. In comparison with controls, patients with Cushing's syndrome had lower 24-h (1.3+/-0.6 vs 3.7+/-1.5, mean+/-SD, p<0.01), daytime (2.0+/-1.4 vs 4.5+/-1.6, p<0.01), and night-time (1.0+/-0.4 vs 3.5+/-2.3, p<0.01) low-frequency/ high frequency (LF/HF) power ratio. In the presence of similar LF power, the difference was due to elevation in HF power in Cushing's syndrome compared to controls: 24-h, 12.7+/-6.7 vs 5.8+/-2.8, p<0.01; daytime, 10.2+/-7.3 vs 4.5+/-2.1, p<0.05; nighttime, 14.2+/-7.0 vs 7.8+/-4.7, p<0.05. Eight Cushing patients vs 4 controls had a non-dipping blood pressure profile. At echocardiography, Cushing patients had a greater left ventricular mass index and/or relative wall thickness, and impaired diastolic function, compared with controls. Compared to controls, patients with Cushing's syndrome showed a sympathovagal imbalance, characterized by a relatively increased parasympathetic activity. Whether this autonomic alteration is meant to counterbalance cortisol-induced effects on blood pressure and cardiac structure/function or has a different pathophysiological significance is still unknown.

Improved Object Proposals with Geometrical Features for Autonomous Driving

Directory of Open Access Journals (Sweden)

Yiliu Feng

2017-01-01

Full Text Available This paper aims at generating high-quality object proposals for object detection in autonomous driving. Most existing proposal generation methods are designed for the general object detection, which may not perform well in a particular scene. We propose several geometrical features suited for autonomous driving and integrate them into state-of-the-art general proposal generation methods. In particular, we formulate the integration as a feature fusion problem by fusing the geometrical features with existing proposal generation methods in a Bayesian framework. Experiments on the challenging KITTI benchmark demonstrate that our approach improves the existing methods significantly. Combined with a convolutional neural net detector, our approach achieves state-of-the-art performance on all three KITTI object classes.

Multiple Autonomous Vehicles for Minefield Reconnaissance and Mapping

Science.gov (United States)

1997-12-01

NPS-ME-97-008 NAVAL POSTGRADUATE SCHOOL Monterey, California ItC A D- 19980421 131 =C QUALTY Ui Ji.CTEJ) THESIS MULTIPLE AUTONOMOUS VEHICLES FOR...MULTIPLE AUTONOMOUS VEHICLES FOR MINEFIELD 5. FUNDING NUMBERS RECONNAISSANCE AND MAPPING N0001497WX30039 6. AUTHOR(S) Jack A. Starr 7. PERFORMING... AUTONOMOUS VEHICLES FOR MINEFIELD RECONNAISSANCE AND MAPPING Jack A. Starr Lieutenant, United States Navy B.S., Oregon State University, 1991 Submitted in

Clozapine-Induced Cardiovascular Side Effects and Autonomic Dysfunction: A Systematic Review

Directory of Open Access Journals (Sweden)

Jessica W. Y. Yuen

2018-04-01

Full Text Available Background: Clozapine is the antipsychotic of choice for treatment-resistant schizophrenia and has minimal risk for extrapyramidal symptoms. Therapeutic benefits, however, are accompanied by a myriad of cardiometabolic side-effects. The specific reasons for clozapine's high propensity to cause adverse cardiometabolic events remain unknown, but it is believed that autonomic dysfunction may play a role in many of these.Objective: This systematic review summarizes the literature on autonomic dysfunction and related cardiovascular side effects associated with clozapine treatment.Method: A search of the EMBASE, MEDLINE, and EBM Cochrane databases was conducted using the search terms antipsychotic agents, antipsychotic drug*, antipsychotic*, schizophrenia, schizophren*, psychos*, psychotic*, mental ill*, mental disorder*, neuroleptic*, cardiovascular*, cardiovascular diseases, clozapine*, clozaril*, autonomic*, sympathetic*, catecholamine*, norepinephrine, noradrenaline, epinephrine, adrenaline.Results: The search yielded 37 studies that were reviewed, of which only 16 studies have used interventions to manage cardiovascular side effects. Side effects reported in the studies include myocarditis, orthostatic hypotension and tachycardia. These were attributed to sympathetic hyperactivity, decreased vagal contribution, blockade of cholinergic and adrenergic receptors, reduced heart rate variability and elevated catecholamines with clozapine use. Autonomic neuropathy was identified by monitoring blood pressure and heart rate changes in response to stimuli and by spectral analysis of heart rate variability. Metoprolol, lorazepam, atenolol, propranolol, amlodipine, vasopressin and norepinephrine infusion were used to treat tachycardia and fluctuations in blood pressure, yet results were limited to case reports.Conclusion: The results indicate there is a lack of clinical studies investigating autonomic dysfunction and a limited use of interventions to manage

High-accuracy determination of the neutron flux at n{sub T}OF

Energy Technology Data Exchange (ETDEWEB)

Barbagallo, M.; Colonna, N.; Mastromarco, M.; Meaze, M.; Tagliente, G.; Variale, V. [Sezione di Bari, INFN, Bari (Italy); Guerrero, C.; Andriamonje, S.; Boccone, V.; Brugger, M.; Calviani, M.; Cerutti, F.; Chin, M.; Ferrari, A.; Kadi, Y.; Losito, R.; Versaci, R.; Vlachoudis, V. [European Organization for Nuclear Research (CERN), Geneva (Switzerland); Tsinganis, A. [European Organization for Nuclear Research (CERN), Geneva (Switzerland); National Technical University of Athens (NTUA), Athens (Greece); Tarrio, D.; Duran, I.; Leal-Cidoncha, E.; Paradela, C. [Universidade de Santiago de Compostela, Santiago (Spain); Altstadt, S.; Goebel, K.; Langer, C.; Reifarth, R.; Schmidt, S.; Weigand, M. [Johann-Wolfgang-Goethe Universitaet, Frankfurt (Germany); Andrzejewski, J.; Marganiec, J.; Perkowski, J. [Uniwersytet Lodzki, Lodz (Poland); Audouin, L.; Leong, L.S.; Tassan-Got, L. [Centre National de la Recherche Scientifique/IN2P3 - IPN, Orsay (France); Becares, V.; Cano-Ott, D.; Garcia, A.R.; Gonzalez-Romero, E.; Martinez, T.; Mendoza, E. [Centro de Investigaciones Energeticas Medioambientales y Tecnologicas (CIEMAT), Madrid (Spain); Becvar, F.; Krticka, M.; Kroll, J.; Valenta, S. [Charles University, Prague (Czech Republic); Belloni, F.; Fraval, K.; Gunsing, F.; Lampoudis, C.; Papaevangelou, T. [Commissariata l' Energie Atomique (CEA) Saclay - Irfu, Gif-sur-Yvette (France); Berthoumieux, E.; Chiaveri, E. [European Organization for Nuclear Research (CERN), Geneva (Switzerland); Commissariata l' Energie Atomique (CEA) Saclay - Irfu, Gif-sur-Yvette (France); Billowes, J.; Ware, T.; Wright, T. [University of Manchester, Manchester (United Kingdom); Bosnar, D.; Zugec, P. [University of Zagreb, Department of Physics, Faculty of Science, Zagreb (Croatia); Calvino, F.; Cortes, G.; Gomez-Hornillos, M.B.; Riego, A. [Universitat Politecnica de Catalunya, Barcelona (Spain); Carrapico, C.; Goncalves, I.F.; Sarmento, R.; Vaz, P. [Universidade Tecnica de Lisboa, Instituto Tecnologico e Nuclear, Instituto Superior Tecnico, Lisboa (Portugal); Cortes-Giraldo, M.A.; Praena, J.; Quesada, J.M.; Sabate-Gilarte, M. [Universidad de Sevilla, Sevilla (Spain); Diakaki, M.; Karadimos, D.; Kokkoris, M.; Vlastou, R. [National Technical University of Athens (NTUA), Athens (Greece); Domingo-Pardo, C.; Giubrone, G.; Tain, J.L. [CSIC-Universidad de Valencia, Instituto de Fisica Corpuscular, Valencia (Spain); Dressler, R.; Kivel, N.; Schumann, D.; Steinegger, P. [Paul Scherrer Institut, Villigen PSI (Switzerland); Dzysiuk, N.; Mastinu, P.F. [Laboratori Nazionali di Legnaro, INFN, Rome (Italy); Eleftheriadis, C.; Manousos, A. [Aristotle University of Thessaloniki, Thessaloniki (Greece); Ganesan, S.; Gurusamy, P.; Saxena, A. [Bhabha Atomic Research Centre (BARC), Mumbai (IN); Griesmayer, E.; Jericha, E.; Leeb, H. [Technische Universitaet Wien, Atominstitut, Wien (AT); Hernandez-Prieto, A. [European Organization for Nuclear Research (CERN), Geneva (CH); Universitat Politecnica de Catalunya, Barcelona (ES); Jenkins, D.G.; Vermeulen, M.J. [University of York, Heslington, York (GB); Kaeppeler, F. [Institut fuer Kernphysik, Karlsruhe Institute of Technology, Campus Nord, Karlsruhe (DE); Koehler, P. [Oak Ridge National Laboratory (ORNL), Oak Ridge (US); Lederer, C. [Johann-Wolfgang-Goethe Universitaet, Frankfurt (DE); University of Vienna, Faculty of Physics, Vienna (AT); Massimi, C.; Mingrone, F.; Vannini, G. [Universita di Bologna (IT); INFN, Sezione di Bologna, Dipartimento di Fisica, Bologna (IT); Mengoni, A.; Ventura, A. [Agenzia nazionale per le nuove tecnologie, l' energia e lo sviluppo economico sostenibile (ENEA), Bologna (IT); Milazzo, P.M. [Sezione di Trieste, INFN, Trieste (IT); Mirea, M. [Horia Hulubei National Institute of Physics and Nuclear Engineering - IFIN HH, Bucharest - Magurele (RO); Mondalaers, W.; Plompen, A.; Schillebeeckx, P. [Institute for Reference Materials and Measurements, European Commission JRC, Geel (BE); Pavlik, A.; Wallner, A. [University of Vienna, Faculty of Physics, Vienna (AT); Rauscher, T. [University of Basel, Department of Physics and Astronomy, Basel (CH); Roman, F. [European Organization for Nuclear Research (CERN), Geneva (CH); Horia Hulubei National Institute of Physics and Nuclear Engineering - IFIN HH, Bucharest - Magurele (RO); Rubbia, C. [European Organization for Nuclear Research (CERN), Geneva (CH); Laboratori Nazionali del Gran Sasso dell' INFN, Assergi (AQ) (IT); Weiss, C. [European Organization for Nuclear Research (CERN), Geneva (CH); Johann-Wolfgang-Goethe Universitaet, Frankfurt (DE)

2013-12-15

The neutron flux of the n{sub T}OF facility at CERN was measured, after installation of the new spallation target, with four different systems based on three neutron-converting reactions, which represent accepted cross sections standards in different energy regions. A careful comparison and combination of the different measurements allowed us to reach an unprecedented accuracy on the energy dependence of the neutron flux in the very wide range (thermal to 1 GeV) that characterizes the n{sub T}OF neutron beam. This is a pre-requisite for the high accuracy of cross section measurements at n{sub T}OF. An unexpected anomaly in the neutron-induced fission cross section of {sup 235}U is observed in the energy region between 10 and 30keV, hinting at a possible overestimation of this important cross section, well above currently assigned uncertainties. (orig.)

Autonomic Recovery Is Delayed in Chinese Compared with Caucasian following Treadmill Exercise.

Directory of Open Access Journals (Sweden)

Peng Sun

Full Text Available Caucasian populations have a higher prevalence of cardiovascular disease (CVD when compared with their Chinese counterparts and CVD is associated with autonomic function. It is unknown whether autonomic function during exercise recovery differs between Caucasians and Chinese. The present study investigated autonomic recovery following an acute bout of treadmill exercise in healthy Caucasians and Chinese. Sixty-two participants (30 Caucasian and 32 Chinese, 50% male performed an acute bout of treadmill exercise at 70% of heart rate reserve. Heart rate variability (HRV and baroreflex sensitivity (BRS were obtained during 5-min epochs at pre-exercise, 30-min, and 60-min post-exercise. HRV was assessed using frequency [natural logarithm of high (LnHF and low frequency (LnLF powers, normalized high (nHF and low frequency (nLF powers, and LF/HF ratio] and time domains [Root mean square of successive differences (RMSSD, natural logarithm of RMSSD (LnRMSSD and R-R interval (RRI]. Spontaneous BRS included both up-up and down-down sequences. At pre-exercise, no group differences were observed for any HR, HRV and BRS parameters. During exercise recovery, significant race-by-time interactions were observed for LnHF, nHF, nLF, LF/HF, LnRMSSD, RRI, HR, and BRS (up-up. The declines in LnHF, nHF, RMSSD, RRI and BRS (up-up and the increases in LF/HF, nLF and HR were blunted in Chinese when compared to Caucasians from pre-exercise to 30-min to 60-min post-exercise. Chinese exhibited delayed autonomic recovery following an acute bout of treadmill exercise. This delayed autonomic recovery may result from greater sympathetic dominance and extended vagal withdrawal in Chinese.Chinese Clinical Trial Register ChiCTR-IPR-15006684.

Autonomic Recovery Is Delayed in Chinese Compared with Caucasian following Treadmill Exercise.

Science.gov (United States)

Sun, Peng; Yan, Huimin; Ranadive, Sushant M; Lane, Abbi D; Kappus, Rebecca M; Bunsawat, Kanokwan; Baynard, Tracy; Hu, Min; Li, Shichang; Fernhall, Bo

2016-01-01

Caucasian populations have a higher prevalence of cardiovascular disease (CVD) when compared with their Chinese counterparts and CVD is associated with autonomic function. It is unknown whether autonomic function during exercise recovery differs between Caucasians and Chinese. The present study investigated autonomic recovery following an acute bout of treadmill exercise in healthy Caucasians and Chinese. Sixty-two participants (30 Caucasian and 32 Chinese, 50% male) performed an acute bout of treadmill exercise at 70% of heart rate reserve. Heart rate variability (HRV) and baroreflex sensitivity (BRS) were obtained during 5-min epochs at pre-exercise, 30-min, and 60-min post-exercise. HRV was assessed using frequency [natural logarithm of high (LnHF) and low frequency (LnLF) powers, normalized high (nHF) and low frequency (nLF) powers, and LF/HF ratio] and time domains [Root mean square of successive differences (RMSSD), natural logarithm of RMSSD (LnRMSSD) and R-R interval (RRI)]. Spontaneous BRS included both up-up and down-down sequences. At pre-exercise, no group differences were observed for any HR, HRV and BRS parameters. During exercise recovery, significant race-by-time interactions were observed for LnHF, nHF, nLF, LF/HF, LnRMSSD, RRI, HR, and BRS (up-up). The declines in LnHF, nHF, RMSSD, RRI and BRS (up-up) and the increases in LF/HF, nLF and HR were blunted in Chinese when compared to Caucasians from pre-exercise to 30-min to 60-min post-exercise. Chinese exhibited delayed autonomic recovery following an acute bout of treadmill exercise. This delayed autonomic recovery may result from greater sympathetic dominance and extended vagal withdrawal in Chinese. Chinese Clinical Trial Register ChiCTR-IPR-15006684.

Contribution à la coordination de flottille de véhicules sous-marins autonomes

OpenAIRE

Spiewak , Jean-Mathias

2007-01-01

Our researches are related to coordination of torpedo-shaped autonomous underwater vehicles flotilla. The cooperation of such vehicles can generate a gain of time, energy, data and exploring area. Indeed, we study the modelling and the control, based on classic sliding mode, of a torpedo-shaped autonomous underwater vehicle. We also present a new high order sliding mode control law in order to limit chattering phenomenon acting on actuators. Finally, we propose a new control strategy to coord...

High accuracy microwave frequency measurement based on single-drive dual-parallel Mach-Zehnder modulator

DEFF Research Database (Denmark)

Zhao, Ying; Pang, Xiaodan; Deng, Lei

2011-01-01

A novel approach for broadband microwave frequency measurement by employing a single-drive dual-parallel Mach-Zehnder modulator is proposed and experimentally demonstrated. Based on bias manipulations of the modulator, conventional frequency-to-power mapping technique is developed by performing a...... 10−3 relative error. This high accuracy frequency measurement technique is a promising candidate for high-speed electronic warfare and defense applications....

Innovative Technique for High-Accuracy Remote Monitoring of Surface Water

Science.gov (United States)

Gisler, A.; Barton-Grimley, R. A.; Thayer, J. P.; Crowley, G.

2016-12-01

Lidar (light detection and ranging) provides absolute depth and topographic mapping capability compared to other remote sensing methods, which is useful for mapping rapidly changing environments such as riverine systems and agricultural waterways. Effectiveness of current lidar bathymetric systems is limited by the difficulty in unambiguously identifying backscattered lidar signals from the water surface versus the bottom, limiting their depth resolution to 0.3-0.5 m. Additionally these are large, bulky systems that are constrained to expensive aircraft-mounted platforms and use waveform-processing techniques requiring substantial computation time. These restrictions are prohibitive for many potential users. A novel lidar device has been developed that allows for non-contact measurements of water depth down to 1 cm with an accuracy and precision of shallow to deep water allowing for shoreline charting, measuring water volume, mapping bottom topology, and identifying submerged objects. The scalability of the technique opens up the ability for handheld or UAS-mounted lidar bathymetric systems, which provides for potential applications currently unavailable to the community. The high laser pulse repetition rate allows for very fine horizontal resolution while the photon-counting technique permits real-time depth measurement and object detection. The enhanced measurement capability, portability, scalability, and relatively low-cost creates the opportunity to perform frequent high-accuracy monitoring and measuring of aquatic environments which is crucial for monitoring water resources on fast timescales. Results from recent campaigns measuring water depth in flowing creeks and murky ponds will be presented which demonstrate that the method is not limited by rough water surfaces and can map underwater topology through moderately turbid water.

Autonomous Industrial Mobile Manipulation (AIMM)

DEFF Research Database (Denmark)

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

2012-01-01

Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry......) with a quick and gentle overview of AIMM. Furthermore, the paper identifies key open issues and promising research directions to realize real-world integration and maturation of the AIMM technology. Originality/value - This paper reviews the interdisciplinary research field Autonomous Industrial Mobile...

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.

A generalized polynomial chaos based ensemble Kalman filter with high accuracy

International Nuclear Information System (INIS)

Li Jia; Xiu Dongbin

2009-01-01

As one of the most adopted sequential data assimilation methods in many areas, especially those involving complex nonlinear dynamics, the ensemble Kalman filter (EnKF) has been under extensive investigation regarding its properties and efficiency. Compared to other variants of the Kalman filter (KF), EnKF is straightforward to implement, as it employs random ensembles to represent solution states. This, however, introduces sampling errors that affect the accuracy of EnKF in a negative manner. Though sampling errors can be easily reduced by using a large number of samples, in practice this is undesirable as each ensemble member is a solution of the system of state equations and can be time consuming to compute for large-scale problems. In this paper we present an efficient EnKF implementation via generalized polynomial chaos (gPC) expansion. The key ingredients of the proposed approach involve (1) solving the system of stochastic state equations via the gPC methodology to gain efficiency; and (2) sampling the gPC approximation of the stochastic solution with an arbitrarily large number of samples, at virtually no additional computational cost, to drastically reduce the sampling errors. The resulting algorithm thus achieves a high accuracy at reduced computational cost, compared to the classical implementations of EnKF. Numerical examples are provided to verify the convergence property and accuracy improvement of the new algorithm. We also prove that for linear systems with Gaussian noise, the first-order gPC Kalman filter method is equivalent to the exact Kalman filter.

Autonomous long-term gamma-spectrometric monitoring of submarine groundwater discharge trends in Hawaii

International Nuclear Information System (INIS)

Dulai, Henrietta; Waters, Ch.A.; Kennedy, Joseph; Kamenik, Jan; Academy of Sciences of the Czech Republic, Rez; Babinec, James; Jolly, James; Williamson, Mario

2016-01-01

We developed a fully autonomous underwater gamma-spectrometer for long-term coastal submarine groundwater discharge (SGD) monitoring. The instrument represents a significant improvement over previous submarine gamma-spectrometers in that it is very robust, has high sensitivity allowing high temporal resolution, and is completely autonomous. Here we describe the technical parameters of the new instrument as well as data collected over its 9-month deployment in Kiholo Bay, HI, USA. We also present methods to convert the measured activities to SGD rates. In Kiholo Bay, the derived SGD matched previous estimates but in addition it revealed previously undocumented short- and long-term patterns in SGD. (author)

Obstacle avoidance test using a sensor-based autonomous robotic system

International Nuclear Information System (INIS)

Fujii, Yoshio; Suzuki, Katsuo

1998-12-01

From a viewpoint of reducing personnel radiation exposure of plant staffs working in the high radiation area of nuclear facilities, it is often said to be necessary to develop remote robotic systems, which have great potential of performing various tasks in nuclear facilities. Hence, we developed an advanced remote robotic system, consisting of redundant manipulator and environment-sensing systems, which can be applied to complicated handling tasks under unstructured environment. In the robotic system, various types of sensors for environment-sensing are mounted on the redundant manipulator and sensor-based autonomous capabilities are incorporated. This report describes the results of autonomous obstacle avoidance test which was carried out as follows: manipulating valves at the rear-side of wall, through a narrow window of the wall, with the redundant manipulator mounted on an x-axis driving mechanism. From this test, it is confirmed that the developed robotic system can autonomously achieve handling tasks in limited space as avoiding obstacles, which is supposed to be difficult by a non-redundant manipulator. (author)

Genome-wide mapping of autonomous promoter activity in human cells.

Science.gov (United States)

van Arensbergen, Joris; FitzPatrick, Vincent D; de Haas, Marcel; Pagie, Ludo; Sluimer, Jasper; Bussemaker, Harmen J; van Steensel, Bas

2017-02-01

Previous methods to systematically characterize sequence-intrinsic activity of promoters have been limited by relatively low throughput and the length of the sequences that could be tested. Here we present 'survey of regulatory elements' (SuRE), a method that assays more than 10 8 DNA fragments, each 0.2-2 kb in size, for their ability to drive transcription autonomously. In SuRE, a plasmid library of random genomic fragments upstream of a 20-bp barcode is constructed, and decoded by paired-end sequencing. This library is used to transfect cells, and barcodes in transcribed RNA are quantified by high-throughput sequencing. When applied to the human genome, we achieve 55-fold genome coverage, allowing us to map autonomous promoter activity genome-wide in K562 cells. By computational modeling we delineate subregions within promoters that are relevant for their activity. We show that antisense promoter transcription is generally dependent on the sense core promoter sequences, and that most enhancers and several families of repetitive elements act as autonomous transcription initiation sites.

3-D Vision Techniques for Autonomous Vehicles

Science.gov (United States)

1988-08-01

TITLE (Include Security Classification) W 3-D Vision Techniques for Autonomous Vehicles 12 PERSONAL AUTHOR(S) Martial Hebert, Takeo Kanade, inso Kweoni... Autonomous Vehicles Martial Hebert, Takeo Kanade, Inso Kweon CMU-RI-TR-88-12 The Robotics Institute Carnegie Mellon University Acession For Pittsburgh

Optimum technoeconomic energy autonomous photovoltaic solution for remote consumers throughout Greece

International Nuclear Information System (INIS)

Kaldellis, J.K.

2004-01-01

Autonomous photovoltaic systems have turned into one of the most promising ways to handle the electrification requirements of numerous isolated consumers worldwide. Such an autonomous system comprises a number of photovoltaic panels, properly connected, and a battery storage device, along with the corresponding electronic equipment. Considering the high solar potential of most Greek territories, an integrated study is conducted based on long term solar potential experimental measurements in order to determine the optimum configuration of a stand alone photovoltaic system at representative locations all over Greece. The proposed solution 'guarantees' zero load rejections for all the areas and time periods examined. For this purpose, a fast and reliable numerical code 'PHOTOV-III' has been used. The algorithm provides analytical results concerning the energy autonomy and the operational status of the autonomous system components. Besides, the optimum panel tilt angle, minimizing the first installation cost of a small photovoltaic system, is predicted. Finally, by introducing available financial aspects, it is possible to determine the optimum system dimensions on a minimum first installation cost basis. According to the results obtained, an autonomous photovoltaic system can definitely contribute to solution of the urgent electrification problem of remote consumers spread throughout Greece, also improving their life quality level

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.

Low power data acquisition unit for autonomous geophysical instrumentation

Science.gov (United States)

Prystai, Andrii

2017-04-01

The development of an autonomous instrumentation for field research is always a challenge which needs knowledge and application of recent advances in technology and components production. Using this information a super-low power, low-cost, stand-alone GPS time synchronized data acquisition unit was created. It comprises an extended utilization of the microcontroller modules and peripherals and special firmware with flexible PLL parameters. The present report is devoted to a discussion of synchronization mode of data sampling in autonomous field instruments with possibility of GPS random breaks. In the result the achieved sampling timing accuracy is better than ± 60 ns without phase jumps and distortion plus fixed shift depending on the sample rate. The main application of the system is for simultaneous measurement of several channels from magnetic and electric sensors in field conditions for magneto-telluric instruments. First utilization of this system was in the new developed versions of LEMI-026 magnetometer and LEMI-423 field station, where it was applied for digitizing of up to 6 analogue channels with 32-bit resolution in the range ± 2.5V, digital filtration (LPF) and maximum sample rate 4kS/s. It is ready for record in 5 minutes after being turned on. Recently, this system was successfully utilized with the drone-portable magnetometers destined for the search of metallic objects, like UXO, in rural areas, research of engineering underground structure and for mapping ore bodies. The successful tests of drone-portable system were made and tests results are also discussed.

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.

Autonomous celestial navigation based on Earth ultraviolet radiance and fast gradient statistic feature extraction

Science.gov (United States)

Lu, Shan; Zhang, Hanmo

2016-01-01

To meet the requirement of autonomous orbit determination, this paper proposes a fast curve fitting method based on earth ultraviolet features to obtain accurate earth vector direction, in order to achieve the high precision autonomous navigation. Firstly, combining the stable characters of earth ultraviolet radiance and the use of transmission model software of atmospheric radiation, the paper simulates earth ultraviolet radiation model on different time and chooses the proper observation band. Then the fast improved edge extracting method combined Sobel operator and local binary pattern (LBP) is utilized, which can both eliminate noises efficiently and extract earth ultraviolet limb features accurately. And earth's centroid locations on simulated images are estimated via the least square fitting method using part of the limb edges. Taken advantage of the estimated earth vector direction and earth distance, Extended Kalman Filter (EKF) is applied to realize the autonomous navigation finally. Experiment results indicate the proposed method can achieve a sub-pixel earth centroid location estimation and extremely enhance autonomous celestial navigation precision.

High-accuracy defect sizing for CRDM penetration adapters using the ultrasonic TOFD technique

International Nuclear Information System (INIS)

Atkinson, I.

1995-01-01

Ultrasonic time-of-flight diffraction (TOFD) is the preferred technique for critical sizing of throughwall orientated defects in a wide range of components, primarily because it is intrinsically more accurate than amplitude-based techniques. For the same reason, TOFD is the preferred technique for sizing the cracks in control rod drive mechanism (CRDM) penetration adapters, which have been the subject of much recent attention. Once the considerable problem of restricted access for the UT probes has been overcome, this inspection lends itself to very high accuracy defect sizing using TOFD. In qualification trials under industrial conditions, depth sizing to an accuracy of ≤ 0.5 mm has been routinely achieved throughout the full wall thickness (16 mm) of the penetration adapters, using only a single probe pair and without recourse to signal processing. (author)

Tracked robot controllers for climbing obstacles autonomously

Science.gov (United States)

Vincent, Isabelle

2009-05-01

Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

Highly Efficient Wireless Powering for Autonomous Structural Health Monitoring and Test/Evaluation Systems

Science.gov (United States)

2016-07-27

of this work is to improve the efficiency, range, and safety (in terms of EMI/EMC and signature) of wireless powering of sensors using the recently...this work is to improve the efficiency, range, and safety (in terms of EMI/EMC and signature) of wireless powering of sensors using the recently...Force and DoD, such as, smart runways, nano-satellites, smart skins for hypersonic vehicles , autonomous portable devices, integrated circuits, and

Integrating small satellite communication in an autonomous vehicle network: A case for oceanography

Science.gov (United States)

Guerra, André G. C.; Ferreira, António Sérgio; Costa, Maria; Nodar-López, Diego; Aguado Agelet, Fernando

2018-04-01

Small satellites and autonomous vehicles have greatly evolved in the last few decades. Hundreds of small satellites have been launched with increasing functionalities, in the last few years. Likewise, numerous autonomous vehicles have been built, with decreasing costs and form-factor payloads. Here we focus on combining these two multifaceted assets in an incremental way, with an ultimate goal of alleviating the logistical expenses in remote oceanographic operations. The first goal is to create a highly reliable and constantly available communication link for a network of autonomous vehicles, taking advantage of the small satellite lower cost, with respect to conventional spacecraft, and its higher flexibility. We have developed a test platform as a proving ground for this network, by integrating a satellite software defined radio on an unmanned air vehicle, creating a system of systems, and several tests have been run successfully, over land. As soon as the satellite is fully operational, we will start to move towards a cooperative network of autonomous vehicles and small satellites, with application in maritime operations, both in-situ and remote sensing.

High accuracy mantle convection simulation through modern numerical methods

KAUST Repository

Kronbichler, Martin

2012-08-21

Numerical simulation of the processes in the Earth\\'s mantle is a key piece in understanding its dynamics, composition, history and interaction with the lithosphere and the Earth\\'s core. However, doing so presents many practical difficulties related to the numerical methods that can accurately represent these processes at relevant scales. This paper presents an overview of the state of the art in algorithms for high-Rayleigh number flows such as those in the Earth\\'s mantle, and discusses their implementation in the Open Source code Aspect (Advanced Solver for Problems in Earth\\'s ConvecTion). Specifically, we show how an interconnected set of methods for adaptive mesh refinement (AMR), higher order spatial and temporal discretizations, advection stabilization and efficient linear solvers can provide high accuracy at a numerical cost unachievable with traditional methods, and how these methods can be designed in a way so that they scale to large numbers of processors on compute clusters. Aspect relies on the numerical software packages deal.II and Trilinos, enabling us to focus on high level code and keeping our implementation compact. We present results from validation tests using widely used benchmarks for our code, as well as scaling results from parallel runs. © 2012 The Authors Geophysical Journal International © 2012 RAS.

Measurement system with high accuracy for laser beam quality.

Science.gov (United States)

Ke, Yi; Zeng, Ciling; Xie, Peiyuan; Jiang, Qingshan; Liang, Ke; Yang, Zhenyu; Zhao, Ming

2015-05-20

Presently, most of the laser beam quality measurement system collimates the optical path manually with low efficiency and low repeatability. To solve these problems, this paper proposed a new collimated method to improve the reliability and accuracy of the measurement results. The system accuracy controlled the position of the mirror to change laser beam propagation direction, which can realize the beam perpendicularly incident to the photosurface of camera. The experiment results show that the proposed system has good repeatability and the measuring deviation of M2 factor is less than 0.6%.

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...

Accuracy of High-Resolution Ultrasonography in the Detection of Extensor Tendon Lacerations.

Science.gov (United States)

Dezfuli, Bobby; Taljanovic, Mihra S; Melville, David M; Krupinski, Elizabeth A; Sheppard, Joseph E

2016-02-01

Lacerations to the extensor mechanism are usually diagnosed clinically. Ultrasound (US) has been a growing diagnostic tool for tendon injuries since the 1990s. To date, there has been no publication establishing the accuracy and reliability of US in the evaluation of extensor mechanism lacerations in the hand. The purpose of this study is to determine the accuracy of US to detect extensor tendon injuries in the hand. Sixteen fingers and 4 thumbs in 4 fresh-frozen and thawed cadaveric hands were used. Sixty-eight 0.5-cm transverse skin lacerations were created. Twenty-seven extensor tendons were sharply transected. The remaining skin lacerations were used as sham dissection controls. One US technologist and one fellowship-trained musculoskeletal radiologist performed real-time dynamic US studies in and out of water bath. A second fellowship trained musculoskeletal radiologist subsequently reviewed the static US images. Dynamic and static US interpretation accuracy was assessed using dissection as "truth." All 27 extensor tendon lacerations and controls were identified correctly with dynamic imaging as either injury models that had a transected extensor tendon or sham controls with intact extensor tendons (sensitivity = 100%, specificity = 100%, positive predictive value = 1.0; all significantly greater than chance). Static imaging had a sensitivity of 85%, specificity of 89%, and accuracy of 88% (all significantly greater than chance). The results of the dynamic real time versus static US imaging were clearly different but did not reach statistical significance. Diagnostic US is a very accurate noninvasive study that can identify extensor mechanism injuries. Clinically suspected cases of acute extensor tendon injury scanned by high-frequency US can aid and/or confirm the diagnosis, with dynamic imaging providing added value compared to static. Ultrasonography, to aid in the diagnosis of extensor mechanism lacerations, can be successfully used in a reliable and

Cooperative Control of Multiple Unmanned Autonomous Vehicles

Science.gov (United States)

2005-06-03

I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

Towards Autonomous Modular UAV Missions: The Detection, Geo-Location and Landing Paradigm

Science.gov (United States)

Kyristsis, Sarantis; Antonopoulos, Angelos; Chanialakis, Theofilos; Stefanakis, Emmanouel; Linardos, Christos; Tripolitsiotis, Achilles; Partsinevelos, Panagiotis

2016-01-01

Nowadays, various unmanned aerial vehicle (UAV) applications become increasingly demanding since they require real-time, autonomous and intelligent functions. Towards this end, in the present study, a fully autonomous UAV scenario is implemented, including the tasks of area scanning, target recognition, geo-location, monitoring, following and finally landing on a high speed moving platform. The underlying methodology includes AprilTag target identification through Graphics Processing Unit (GPU) parallelized processing, image processing and several optimized locations and approach algorithms employing gimbal movement, Global Navigation Satellite System (GNSS) readings and UAV navigation. For the experimentation, a commercial and a custom made quad-copter prototype were used, portraying a high and a low-computational embedded platform alternative. Among the successful targeting and follow procedures, it is shown that the landing approach can be successfully performed even under high platform speeds. PMID:27827883

Semi-autonomous unmanned ground vehicle control system

Science.gov (United States)

Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

2006-05-01

Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

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

Directory of Open Access Journals (Sweden)

Seok-Hyung Kim

2011-03-01

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

Reconfigurable On-Board Vision Processing for Small Autonomous Vehicles

Directory of Open Access Journals (Sweden)

James K. Archibald

2006-12-01

Full Text Available This paper addresses the challenge of supporting real-time vision processing on-board small autonomous vehicles. Local vision gives increased autonomous capability, but it requires substantial computing power that is difficult to provide given the severe constraints of small size and battery-powered operation. We describe a custom FPGA-based circuit board designed to support research in the development of algorithms for image-directed navigation and control. We show that the FPGA approach supports real-time vision algorithms by describing the implementation of an algorithm to construct a three-dimensional (3D map of the environment surrounding a small mobile robot. We show that FPGAs are well suited for systems that must be flexible and deliver high levels of performance, especially in embedded settings where space and power are significant concerns.

Reconfigurable On-Board Vision Processing for Small Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Fife WadeS

2007-01-01

Full Text Available This paper addresses the challenge of supporting real-time vision processing on-board small autonomous vehicles. Local vision gives increased autonomous capability, but it requires substantial computing power that is difficult to provide given the severe constraints of small size and battery-powered operation. We describe a custom FPGA-based circuit board designed to support research in the development of algorithms for image-directed navigation and control. We show that the FPGA approach supports real-time vision algorithms by describing the implementation of an algorithm to construct a three-dimensional (3D map of the environment surrounding a small mobile robot. We show that FPGAs are well suited for systems that must be flexible and deliver high levels of performance, especially in embedded settings where space and power are significant concerns.

Mapping autonomously replicating sequence elements in a 73-kb ...

Indian Academy of Sciences (India)

Autonomously replicating sequence (ARS) elements are the genetic determinants of replication origin function in yeasts. They can be easily identified as the plasmids containing them transform yeast cells at a high frequency. As the first step towards identifying all potential replication origins in a 73-kb region of the long arm ...

A System for Fast Navigation of Autonomous Vehicles

Science.gov (United States)

1991-09-01

AD-A243 523 4, jj A System for Fast Navigation of Autonomous Vehicles Sanjiv Singh, Dai Feng, Paul Keller, Gary Shaffer, Wen Fan Shi, Dong Hun Shin...FUNDING NUMBERS A System for Fast Navigation of Autonomous Vehicles 6. AUTHOR(S) S. Singh, D. Feng, P. Keller, G. Shaffer, W.F. Shi, D.H. Shin, J. West...common in the control of autonomous vehicles to establish the necessary kinematic models but to ignore an explicit representation of the vehicle dynamics

Autonomous Data Collection Using a Self-Organizing Map.

Science.gov (United States)

Faigl, Jan; Hollinger, Geoffrey A

2018-05-01

The self-organizing map (SOM) is an unsupervised learning technique providing a transformation of a high-dimensional input space into a lower dimensional output space. In this paper, we utilize the SOM for the traveling salesman problem (TSP) to develop a solution to autonomous data collection. Autonomous data collection requires gathering data from predeployed sensors by moving within a limited communication radius. We propose a new growing SOM that adapts the number of neurons during learning, which also allows our approach to apply in cases where some sensors can be ignored due to a lower priority. Based on a comparison with available combinatorial heuristic algorithms for relevant variants of the TSP, the proposed approach demonstrates improved results, while also being less computationally demanding. Moreover, the proposed learning procedure can be extended to cases where particular sensors have varying communication radii, and it can also be extended to multivehicle planning.

Machine Visual Guidance For An Autonomous Undersea Submersible

Science.gov (United States)

Nguyen, Hoa G.; Kaomea, Peter K.; Heckman, Paul J.

1988-12-01

Optical imaging is the preferred sensory modality for underwater robotic activities requiring high resolution at close range, such as station keeping, docking, control of manipulator, and object retrieval. Machine vision will play a vital part in the design of next generation autonomous underwater submersibles. This paper describes an effort to demonstrate that real-time vision-based guidance and control of autonomous underwater submersibles is possible with compact, low-power, and vehicle-imbeddable hardware. The Naval Ocean Systems Center's EAVE-WEST (Experimental Autonomous Vehicle-West) submersible is being used as the testbed. The vision hardware consists of a PC-bus video frame grabber and an IBM-PC/AT compatible single-board computer, both residing in the artificial intelligence/vision electronics bottle of the submersible. The specific application chosen involves the tracking of underwater buoy cables. Image recognition is performed in two steps. Feature points are identified in the underwater video images using a technique which detects one-dimensional local brightness minima and maxima. Hough transformation is then used to detect the straight line among these feature points. A hierarchical coarse-to-fine processing method is employed which terminates when enough feature points have been identified to allow a reliable fit. The location of the cable identified is then reported to the vehicle controller computer for automatic steering control. The process currently operates successfully with a throughput of approximately 2 frames per second.

Towards autonomous vehicles.

Science.gov (United States)

2013-11-01

We are moving towards an age of autonomous vehicles. Cycles of innovation initiated in the public and private sectors : have led one into another since the 1990s; and out of these efforts have sprung a variety of Advanced Driver Assistance : Systems ...

Autonomous Flight in Unknown Indoor Environments

OpenAIRE

Bachrach, Abraham Galton; He, Ruijie; Roy, Nicholas

2009-01-01

This paper presents our solution for enabling a quadrotor helicopter, equipped with a laser rangefinder sensor, to autonomously explore and map unstructured and unknown indoor environments. While these capabilities are already commodities on ground vehicles, air vehicles seeking the same performance face unique challenges. In this paper, we describe the difficulties in achieving fully autonomous helicopter flight, highlighting the differences between ground and helicopter robots that make it ...

An autonomous weeding robot for organic farming

NARCIS (Netherlands)

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

2006-01-01

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

Enhancing the Accuracy of Advanced High Temperature Mechanical Testing through Thermography

Directory of Open Access Journals (Sweden)

Jonathan Jones

2018-03-01

Full Text Available This paper describes the advantages and enhanced accuracy thermography provides to high temperature mechanical testing. This technique is not only used to monitor, but also to control test specimen temperatures where the infra-red technique enables accurate non-invasive control of rapid thermal cycling for non-metallic materials. Isothermal and dynamic waveforms are employed over a 200–800 °C temperature range to pre-oxidised and coated specimens to assess the capability of the technique. This application shows thermography to be accurate to within ±2 °C of thermocouples, a standardised measurement technique. This work demonstrates the superior visibility of test temperatures previously unobtainable by conventional thermocouples or even more modern pyrometers that thermography can deliver. As a result, the speed and accuracy of thermal profiling, thermal gradient measurements and cold/hot spot identification using the technique has increased significantly to the point where temperature can now be controlled by averaging over a specified area. The increased visibility of specimen temperatures has revealed additional unknown effects such as thermocouple shadowing, preferential crack tip heating within an induction coil, and, fundamental response time of individual measurement techniques which are investigated further.

Intrepid: Exploring the NEA population with a Fleet of Highly Autonomous SmallSat explorers

Science.gov (United States)

Blacksberg, Jordana; Chesley, Steven R.; Ehlmann, Bethany; Raymond, Carol Anne

2017-10-01

The Intrepid mission concept calls for phased deployment of a fleet of small highly autonomous rendezvous spacecraft designed to characterize the evolution, structure and composition of dozens of Near-Earth Asteroids (NEAs). Intrepid represents a marked departure from conventional solar system exploration projects, where a single unique and complex spacecraft is typically directed to explore a single target body. In contrast, Intrepid relies on the deployment of a large number of autonomous spacecraft to provide redundancy and ensure that the project goals are achieved at a small fraction of the cost of typical missions.The Intrepid science goals are threefold: (1) to understand the evolutionary processes that govern asteroid physical, chemical and dynamical histories and relate these results to solar system origins and evolution; (2) to facilitate impactor deflection scenarios for planetary defense by statistically characterizing relevant asteroid physical properties; (3) to quantify the presence and extractability of potentially useful resources on a large sample of asteroids. To achieve these goals, the baseline architecture includes multiple modular instruments including cameras, spectrometers, radar sounders, and projectiles that could interact with the target asteroid. Key questions to be addressed are: what is the total quantity of water in each object? How is the water incorporated? Are organics present? What is the asteroid physical structure? How would the object respond to impact/deflection?We have begun development of a miniature infrared point spectrometer, a cornerstone of the Intrepid payload, covering both shortwave infrared (SWIR) and mid-infrared (MIR) spectral bands. The spectrometer is designed with a compact 2U form-factor, making it both relevant to Intrepid and implementable on a CubeSat. The combination of SWIR and MIR in a single integrated instrument would enable robust compositional interpretations from a single dataset combining both

Medial arterial calcification, calcific aortic stenosis and mitral annular calcification in a diabetic patient with severe autonomic neuropathy.

LENUS (Irish Health Repository)

Cronin, C C

2012-02-03

Medial arterial calcification (Monckeberg\\'s arteriosclerosis) is well described in diabetic patients with autonomic neuropathy. There is also a high prevalence of diabetes mellitus among subjects with calcific aortic stenosis and mitral annular calcification. We describe a diabetic patient with autonomic neuropathy and extensive medial arterial calcification who also had calcification of the aortic valve and of the mitral valve annulus. We propose that autonomic neuropathy may play a role in calcification of these structures at the base of the heart.

Development of a colorimetric microfluidic pH sensor for autonomous seawater measurements.

Science.gov (United States)

Rérolle, Victoire M C; Floquet, Cedric F A; Harris, Andy J K; Mowlem, Matt C; Bellerby, Richard R G J; Achterberg, Eric P

2013-07-05

High quality carbonate chemistry measurements are required in order to fully understand the dynamics of the oceanic carbonate system. Seawater pH data with good spatial and temporal coverage are particularly critical to apprehend ocean acidification phenomena and their consequences. There is a growing need for autonomous in situ instruments that measure pH on remote platforms. Our aim is to develop an accurate and precise autonomous in situ pH sensor for long term deployment on remote platforms. The widely used spectrophotometric pH technique is capable of the required high-quality measurements. We report a key step towards the miniaturization of a colorimetric pH sensor with the successful implementation of a simple microfluidic design with low reagent consumption. The system is particularly adapted to shipboard deployment: high quality data was obtained over a period of more than a month during a shipboard deployment in northwest European shelf waters, and less than 30 mL of indicator was consumed. The system featured a short term precision of 0.001 pH (n=20) and an accuracy within the range of a certified Tris buffer (0.004 pH). The quality of the pH system measurements have been checked using various approaches: measurements of certified Tris buffer, measurement of certified seawater for DIC and TA, comparison of measured pH against calculated pH from pCO2, DIC and TA during the cruise in northwest European shelf waters. All showed that our measurements were of high quality. The measurements were made close to in situ temperature (+0.2°C) in a sampling chamber which had a continuous flow of the ship's underway seawater supply. The optical set up was robust and relatively small due to the use of an USB mini-spectrometer, a custom made polymeric flow cell and an LED light source. The use of a three wavelength LED with detection that integrated power across the whole of each LED output spectrum indicated that low wavelength resolution detectors can be used

Technical accuracy of a neuronavigation system measured with a high-precision mechanical micromanipulator.

Science.gov (United States)

Kaus, M; Steinmeier, R; Sporer, T; Ganslandt, O; Fahlbusch, R

1997-12-01

This study was designed to determine and evaluate the different system-inherent sources of erroneous target localization of a light-emitting diode (LED)-based neuronavigation system (StealthStation, Stealth Technologies, Boulder, CO). The localization accuracy was estimated by applying a high-precision mechanical micromanipulator to move and exactly locate (+/- 0.1 micron) the pointer at multiple positions in the physical three-dimensional space. The localization error was evaluated by calculating the spatial distance between the (known) LED positions and the LED coordinates measured by the neuronavigator. The results are based on a study of approximately 280,000 independent coordinate measurements. The maximum localization error detected was 0.55 +/- 0.29 mm, with the z direction (distance to the camera array) being the most erroneous coordinate. Minimum localization error was found at a distance of 1400 mm from the central camera (optimal measurement position). Additional error due to 1) mechanical vibrations of the camera tripod (+/- 0.15 mm) and the reference frame (+/- 0.08 mm) and 2) extrapolation of the pointer tip position from the LED coordinates of at least +/- 0.12 mm were detected, leading to a total technical error of 0.55 +/- 0.64 mm. Based on this technical accuracy analysis, a set of handling recommendations is proposed, leading to an improved localization accuracy. The localization error could be reduced by 0.3 +/- 0.15 mm by correct camera positioning (1400 mm distance) plus 0.15 mm by vibration-eliminating fixation of the camera. Correct handling of the probe during the operation may improve the accuracy by up to 0.1 mm.

Design of a semi-autonomous boat for measurements of coastal sedimentation and erosion

Directory of Open Access Journals (Sweden)

D. Smith

2015-03-01

Full Text Available Measurement of sediment deposition and erosion in coastal areas is a challenge due to soft shifting sediments, but is critical to assessing loss or restoration of coastal sediments and wetlands. The aim of this project was to design and construct a semi-autonomous boat with water depth measuring capabilities. It was intended to map the depth of coastal wetlands to determine erosion rates and assess coastal restoration effects. Depth-measuring equipment was incorporated into an autonomous pontoon boat powered by solar panels. The propulsion system consisted of two paddlewheels and two-way motors to allow movement and positioning for measurements. Modifications included a lightweight, hard coating on the pontoons and powder-coating the frame to extend their usable life. A microcontroller controlled the boat and captured depth data from sensors and location data with a GPS system. The depth measuring system consisted of a pulley and counter system that completed each measurement in less than 45 seconds. This allowed the boat to take approximately 400 measurements per day. Net accuracy was approximately 3 cm in the tested configuration. The boat can continually measure the depth of specified areas in the wetlands; with this data, the change in depth can be monitored to see the effects of restoration projects.

Design of an Autonomous Transport System for Coastal Areas

Directory of Open Access Journals (Sweden)

Andrzej Lebkowski

2018-03-01

Full Text Available The article presents a project of an autonomous transport system that can be deployed in coastal waters, bays or between islands. Presented solutions and development trends in the transport of autonomous and unmanned units (ghost ships are presented. The structure of the control system of autonomous units is discussed together with the presentation of applied solutions in the field of artificial intelligence. The paper presents the concept of a transport system consisting of autonomous electric powered vessels designed to carry passengers, bikes, mopeds, motorcycles or passenger cars. The transport task is to be implemented in an optimal way, that is, most economically and at the same time as safe as possible. For this reason, the structure of the electric propulsion system that can be found on such units is shown. The results of simulation studies of autonomous system operation using simulator of marine navigational environment are presented.

Accuracy and high-speed technique for autoprocessing of Young's fringes

Science.gov (United States)

Chen, Wenyi; Tan, Yushan

1991-12-01

In this paper, an accurate and high-speed method for auto-processing of Young's fringes is proposed. A group of 1-D sampled intensity values along three or more different directions are taken from Young's fringes, and the fringe spacings of each direction are obtained by 1-D FFT respectively. Two directions that have smaller fringe spacing are selected from all directions. The accurate fringe spacings along these two directions are obtained by using orthogonal coherent phase detection technique (OCPD). The actual spacing and angle of Young's fringes, therefore, can be calculated. In this paper, the principle of OCPD is introduced in detail. The accuracy of the method is evaluated theoretically and experimentally.

Consensus statement on the definition of neurogenic supine hypertension in cardiovascular autonomic failure by the American Autonomic Society (AAS) and the European Federation of Autonomic Societies (EFAS) : Endorsed by the European Academy of Neurology (EAN) and the European Society of Hypertension (ESH).

Science.gov (United States)

Fanciulli, Alessandra; Jordan, Jens; Biaggioni, Italo; Calandra-Buonaura, Giovanna; Cheshire, William P; Cortelli, Pietro; Eschlboeck, Sabine; Grassi, Guido; Hilz, Max J; Kaufmann, Horacio; Lahrmann, Heinz; Mancia, Giuseppe; Mayer, Gert; Norcliffe-Kaufmann, Lucy; Pavy-Le Traon, Anne; Raj, Satish R; Robertson, David; Rocha, Isabel; Struhal, Walter; Thijs, Roland; Tsioufis, Konstantinos P; van Dijk, J Gert; Wenning, Gregor K

2018-05-15

Patients suffering from cardiovascular autonomic failure often develop neurogenic supine hypertension (nSH), i.e., high blood pressure (BP) in the supine position, which falls in the upright position owing to impaired autonomic regulation. A committee was formed to reach consensus among experts on the definition and diagnosis of nSH in the context of cardiovascular autonomic failure. As a first and preparatory step, a systematic search of PubMed-indexed literature on nSH up to January 2017 was performed. Available evidence derived from this search was discussed in a consensus expert round table meeting in Innsbruck on February 16, 2017. Statements originating from this meeting were further discussed by representatives of the American Autonomic Society and the European Federation of Autonomic Societies and are summarized in the document presented here. The final version received the endorsement of the European Academy of Neurology and the European Society of Hypertension. In patients with neurogenic orthostatic hypotension, nSH is defined as systolic BP ≥ 140 mmHg and/or diastolic BP ≥ 90 mmHg, measured after at least 5 min of rest in the supine position. Three severity degrees are recommended: mild, moderate and severe. nSH may also be present during nocturnal sleep, with reduced-dipping, non-dipping or rising nocturnal BP profiles with respect to mean daytime BP values. Home BP monitoring and 24-h-ambulatory BP monitoring provide relevant information for a customized clinical management. The establishment of expert-based criteria to define nSH should standardize diagnosis and allow a better understanding of its epidemiology, prognosis and, ultimately, treatment.

Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

Science.gov (United States)

Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

2018-03-01

Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

Implementation of High Time Delay Accuracy of Ultrasonic Phased Array Based on Interpolation CIC Filter.

Science.gov (United States)

Liu, Peilu; Li, Xinghua; Li, Haopeng; Su, Zhikun; Zhang, Hongxu

2017-10-12

In order to improve the accuracy of ultrasonic phased array focusing time delay, analyzing the original interpolation Cascade-Integrator-Comb (CIC) filter, an 8× interpolation CIC filter parallel algorithm was proposed, so that interpolation and multichannel decomposition can simultaneously process. Moreover, we summarized the general formula of arbitrary multiple interpolation CIC filter parallel algorithm and established an ultrasonic phased array focusing time delay system based on 8× interpolation CIC filter parallel algorithm. Improving the algorithmic structure, 12.5% of addition and 29.2% of multiplication was reduced, meanwhile the speed of computation is still very fast. Considering the existing problems of the CIC filter, we compensated the CIC filter; the compensated CIC filter's pass band is flatter, the transition band becomes steep, and the stop band attenuation increases. Finally, we verified the feasibility of this algorithm on Field Programming Gate Array (FPGA). In the case of system clock is 125 MHz, after 8× interpolation filtering and decomposition, time delay accuracy of the defect echo becomes 1 ns. Simulation and experimental results both show that the algorithm we proposed has strong feasibility. Because of the fast calculation, small computational amount and high resolution, this algorithm is especially suitable for applications with high time delay accuracy and fast detection.

Implementation of High Time Delay Accuracy of Ultrasonic Phased Array Based on Interpolation CIC Filter

Directory of Open Access Journals (Sweden)

Peilu Liu

2017-10-01

Full Text Available In order to improve the accuracy of ultrasonic phased array focusing time delay, analyzing the original interpolation Cascade-Integrator-Comb (CIC filter, an 8× interpolation CIC filter parallel algorithm was proposed, so that interpolation and multichannel decomposition can simultaneously process. Moreover, we summarized the general formula of arbitrary multiple interpolation CIC filter parallel algorithm and established an ultrasonic phased array focusing time delay system based on 8× interpolation CIC filter parallel algorithm. Improving the algorithmic structure, 12.5% of addition and 29.2% of multiplication was reduced, meanwhile the speed of computation is still very fast. Considering the existing problems of the CIC filter, we compensated the CIC filter; the compensated CIC filter’s pass band is flatter, the transition band becomes steep, and the stop band attenuation increases. Finally, we verified the feasibility of this algorithm on Field Programming Gate Array (FPGA. In the case of system clock is 125 MHz, after 8× interpolation filtering and decomposition, time delay accuracy of the defect echo becomes 1 ns. Simulation and experimental results both show that the algorithm we proposed has strong feasibility. Because of the fast calculation, small computational amount and high resolution, this algorithm is especially suitable for applications with high time delay accuracy and fast detection.

Autonomous Propellant Loading Project

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National Aeronautics and Space Administration — The AES Autonomous Propellant Loading (APL) project consists of three activities. The first is to develop software that will automatically control loading of...

Autonomous Systems and Operations

Data.gov (United States)

National Aeronautics and Space Administration — The AES Autonomous Systems and Operations (ASO) project will develop an understanding of the impacts of increasing communication time delays on mission operations,...

THE EFFECT OF MODERATE AND HIGH-INTENSITY FATIGUE ON GROUNDSTROKE ACCURACY IN EXPERT AND NON-EXPERT TENNIS PLAYERS

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Mark Lyons

2013-06-01

Full Text Available Exploring the effects of fatigue on skilled performance in tennis presents a significant challenge to the researcher with respect to ecological validity. This study examined the effects of moderate and high-intensity fatigue on groundstroke accuracy in expert and non-expert tennis players. The research also explored whether the effects of fatigue are the same regardless of gender and player's achievement motivation characteristics. 13 expert (7 male, 6 female and 17 non-expert (13 male, 4 female tennis players participated in the study. Groundstroke accuracy was assessed using the modified Loughborough Tennis Skills Test. Fatigue was induced using the Loughborough Intermittent Tennis Test with moderate (70% and high-intensities (90% set as a percentage of peak heart rate (attained during a tennis-specific maximal hitting sprint test. Ratings of perceived exertion were used as an adjunct to the monitoring of heart rate. Achievement goal indicators for each player were assessed using the 2 x 2 Achievement Goals Questionnaire for Sport in an effort to examine if this personality characteristic provides insight into how players perform under moderate and high-intensity fatigue conditions. A series of mixed ANOVA's revealed significant fatigue effects on groundstroke accuracy regardless of expertise. The expert players however, maintained better groundstroke accuracy across all conditions compared to the novice players. Nevertheless, in both groups, performance following high-intensity fatigue deteriorated compared to performance at rest and performance while moderately fatigued. Groundstroke accuracy under moderate levels of fatigue was equivalent to that at rest. Fatigue effects were also similar regardless of gender. No fatigue by expertise, or fatigue by gender interactions were found. Fatigue effects were also equivalent regardless of player's achievement goal indicators. Future research is required to explore the effects of fatigue on

Quantifying Effects of Pharmacological Blockers of Cardiac Autonomous Control Using Variability Parameters.

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Miyabara, Renata; Berg, Karsten; Kraemer, Jan F; Baltatu, Ovidiu C; Wessel, Niels; Campos, Luciana A

2017-01-01

Objective: The aim of this study was to identify the most sensitive heart rate and blood pressure variability (HRV and BPV) parameters from a given set of well-known methods for the quantification of cardiovascular autonomic function after several autonomic blockades. Methods: Cardiovascular sympathetic and parasympathetic functions were studied in freely moving rats following peripheral muscarinic (methylatropine), β1-adrenergic (metoprolol), muscarinic + β1-adrenergic, α1-adrenergic (prazosin), and ganglionic (hexamethonium) blockades. Time domain, frequency domain and symbolic dynamics measures for each of HRV and BPV were classified through paired Wilcoxon test for all autonomic drugs separately. In order to select those variables that have a high relevance to, and stable influence on our target measurements (HRV, BPV) we used Fisher's Method to combine the p -value of multiple tests. Results: This analysis led to the following best set of cardiovascular variability parameters: The mean normal beat-to-beat-interval/value (HRV/BPV: meanNN), the coefficient of variation (cvNN = standard deviation over meanNN) and the root mean square differences of successive (RMSSD) of the time domain analysis. In frequency domain analysis the very-low-frequency (VLF) component was selected. From symbolic dynamics Shannon entropy of the word distribution (FWSHANNON) as well as POLVAR3, the non-linear parameter to detect intermittently decreased variability, showed the best ability to discriminate between the different autonomic blockades. Conclusion: Throughout a complex comparative analysis of HRV and BPV measures altered by a set of autonomic drugs, we identified the most sensitive set of informative cardiovascular variability indexes able to pick up the modifications imposed by the autonomic challenges. These indexes may help to increase our understanding of cardiovascular sympathetic and parasympathetic functions in translational studies of experimental diseases.

Modelling of a PMSG Wind Turbine with Autonomous Control

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Chia-Nan Wang

2014-01-01

Full Text Available 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 to adjust the synchronous generator as well as separating the generator from the grid when necessary. The grid-side inverter controls the power flow between the direct current (DC bus and the AC side. Both of them are oriented control by space vector pulse width modulation (PWM with back-to-back frequency inverter. Moreover, the proportional-integral (PI controller is enhanced to control both of the inverters and the pitch angle of the wind turbine. Maximum power point tracking (MPPT is integrated in generator-side inverter to track the maximum power, when wind speed changes. The simulation results in Matlab Simulink 2012b showing the model have good dynamic and static performance. The maximum power can be tracked and the generator wind turbine can be operated with high efficiency.

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.

Autonomic innervation of the heart. Role of molecular imaging

International Nuclear Information System (INIS)

Slart, Riemer H.J.A; Elsinga, Philip H.; Tio, Rene A.; Schwaiger, Markus

2015-01-01

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.

Are Turkish University Students Autonomous or Not?

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Büşra Kırtık

2017-01-01

Full Text Available The present study tried to determine Turkish learners’ attitudes, and the Turkish education system’s approach towards learner autonomy with regard to three main points: 1 whether Turkish university students are aware of learner autonomy or not 2 whether Turkish university students have the characteristics of autonomous learners (whether they are autonomous learners or not, and 3 if the Turkish education system is suitable for fostering learner autonomy or not from the viewpoint of the participants. Participants were 50 second grade learners in the English Language Teaching Departments of Hacettepe University (N=10, Mehmet Akif Ersoy University (N=10, and Uludag University (N=30 who had already taken courses about learner autonomy.  The data were collected by means of a questionnaire which had two Likert-scale sections and an open-ended questions section. The first Likert-scale section contained 15 characteristics of autonomous learners each of which was rated by the participants in a scale from strongly disagree to agree, from 1 to 5. In the second Likert-scale section, the participants were asked to rate the Turkish education system’s five basic elements such as school curriculums, course materials, approaches used by the teachers in classrooms, learning activities, and classroom settings. Additionally, learners’ opinions about their awareness and understanding of learner autonomy were gathered by five open ended questions. The results proposed that the participants were aware of learner autonomy, and had the characteristics of autonomous learners. On the other hand, results showed that the Turkish education system was not suitable for autonomous learners and did not foster learner autonomy. The findings suggested that the Turkish education system should be designed again in such a way to support the autonomous learners and to foster learner autonomy in all sections of the education.

Improving Human/Autonomous System Teaming Through Linguistic Analysis

Science.gov (United States)

Meszaros, Erica L.

2016-01-01

An area of increasing interest for the next generation of aircraft is autonomy and the integration of increasingly autonomous systems into the national airspace. Such integration requires humans to work closely with autonomous systems, forming human and autonomous agent teams. The intention behind such teaming is that a team composed of both humans and autonomous agents will operate better than homogenous teams. Procedures exist for licensing pilots to operate in the national airspace system and current work is being done to define methods for validating the function of autonomous systems, however there is no method in place for assessing the interaction of these two disparate systems. Moreover, currently these systems are operated primarily by subject matter experts, limiting their use and the benefits of such teams. Providing additional information about the ongoing mission to the operator can lead to increased usability and allow for operation by non-experts. Linguistic analysis of the context of verbal communication provides insight into the intended meaning of commonly heard phrases such as "What's it doing now?" Analyzing the semantic sphere surrounding these common phrases enables the prediction of the operator's intent and allows the interface to supply the operator's desired information.

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.

Autonomous operation of distributed storages in microgrids

DEFF Research Database (Denmark)

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

2014-01-01

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

Autonomous biomorphic robots as platforms for sensors

International Nuclear Information System (INIS)

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

1996-01-01

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

Autonomous, Controlled, and Amotivated Types of Academic Motivation: A Person-Oriented Analysis

Science.gov (United States)

Ratelle, Catherine F.; Guay, Frederic; Vallerand, Robert J.; Larose, Simon; Senecal, Caroline

2007-01-01

The authors investigated students' profiles regarding autonomous, controlled, and amotivated regulation and tested whether profile groups differed on some academic adjustment outcomes. Studies 1 and 2 performed on high school students revealed 3 profiles: (a) students with high levels of both controlled motivation and amotivation but low levels of…

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....

Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

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Ni, Jun; Hu, Jibin

2017-06-01

In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.

Cause and Cure - Deterioration in Accuracy of CFD Simulations With Use of High-Aspect-Ratio Triangular Tetrahedral Grids

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Chang, Sin-Chung; Chang, Chau-Lyan; Venkatachari, Balaji Shankar

2017-01-01

Traditionally high-aspect ratio triangular/tetrahedral meshes are avoided by CFD re-searchers in the vicinity of a solid wall, as it is known to reduce the accuracy of gradient computations in those regions and also cause numerical instability. Although for certain complex geometries, the use of high-aspect ratio triangular/tetrahedral elements in the vicinity of a solid wall can be replaced by quadrilateral/prismatic elements, ability to use triangular/tetrahedral elements in such regions without any degradation in accuracy can be beneficial from a mesh generation point of view. The benefits also carry over to numerical frameworks such as the space-time conservation element and solution element (CESE), where triangular/tetrahedral elements are the mandatory building blocks. With the requirement of the CESE method in mind, a rigorous mathematical framework that clearly identities the reason behind the difficulties in use of such high-aspect ratio triangular/tetrahedral elements is presented here. As will be shown, it turns out that the degree of accuracy deterioration of gradient computation involving a triangular element is hinged on the value of its shape factor Gamma def = sq sin Alpha1 + sq sin Alpha2 + sq sin Alpha3, where Alpha1; Alpha2 and Alpha3 are the internal angles of the element. In fact, it is shown that the degree of accuracy deterioration increases monotonically as the value of Gamma decreases monotonically from its maximal value 9/4 (attained by an equilateral triangle only) to a value much less than 1 (associated with a highly obtuse triangle). By taking advantage of the fact that a high-aspect ratio triangle is not necessarily highly obtuse, and in fact it can have a shape factor whose value is close to the maximal value 9/4, a potential solution to avoid accuracy deterioration of gradient computation associated with a high-aspect ratio triangular grid is given. Also a brief discussion on the extension of the current mathematical framework to the

Very high-accuracy calibration of radiation pattern and gain of a near-field probe

DEFF Research Database (Denmark)

Pivnenko, Sergey; Nielsen, Jeppe Majlund; Breinbjerg, Olav

2014-01-01

In this paper, very high-accuracy calibration of the radiation pattern and gain of a near-field probe is described. An open-ended waveguide near-field probe has been used in a recent measurement of the C-band Synthetic Aperture Radar (SAR) Antenna Subsystem for the Sentinel 1 mission of the Europ...

Control of autonomous ground vehicles: a brief technical review

Science.gov (United States)

Babak, Shahian-Jahromi; Hussain, Syed A.; Karakas, Burak; Cetin, Sabri

2017-07-01

This paper presents a brief review of the developments achieved in autonomous vehicle systems technology. A concise history of autonomous driver assistance systems is presented, followed by a review of current state of the art sensor technology used in autonomous vehicles. Standard sensor fusion method that has been recently explored is discussed. Finally, advances in embedded software methodologies that define the logic between sensory information and actuation decisions are reviewed.

Safe and Autonomous Drones for Urban Flight

Science.gov (United States)

Krishnakumar, Kalmanje

2016-01-01

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

Autonomous and controlled motivation and interpersonal therapy for depression: moderating role of recurrent depression.

Science.gov (United States)

McBride, Carolina; Zuroff, David C; Ravitz, Paula; Koestner, Richard; Moskowitz, Debbie S; Quilty, Lena; Bagby, R Michael

2010-11-01

We examined the moderating role of depression recurrence on the relation between autonomous and controlled motivation and interpersonal therapy (IPT) treatment outcome. The investigation was conducted in an out-patient mood disorders clinic of a large university-affiliated psychiatric hospital. The sample represents a subset of a larger naturalistic database of patients seen in the clinic. We examined 74 depressed out-patients who received 16 sessions of IPT. The Beck Depression Inventory-II, administered at pre-treatment and post-treatment, served as a measure of depressive severity. Measures of motivation and therapeutic alliance were collected at the third session. In the entire sample, both the therapeutic alliance and autonomous motivation predicted higher probability of achieving remission; however, the relation differed for those with highly recurrent depression compared to those with less recurrent depression. For those with highly recurrent depression, the therapeutic alliance predicted remission whereas autonomous motivation had no effect on remission. For those with less recurrent depression, both autonomous motivation and the therapeutic alliance predicted better achieving remission. Controlled motivation emerged as a significant negative predictor of remission across both groups. Taken together, these results highlight the possible use of motivation theory to inform and enrich therapeutic conceptualizations and interventions in clinical practice, but also point to the importance of modifying interventions based on the chronicity of a client's depression.

“Little Helper” — An Autonomous Industrial Mobile Manipulator Concept

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Mads Hvilshøj

2011-06-01

Full Text Available This paper presents the concept “autonomous industrial mobile manipulation” (AIMM based on the mobile manipulator “Little Helper” – an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of “Little Helper” from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off-the-shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the “Little Helper” concept a full-scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

Heart Rate Variability and Autonomic Modulations in Preeclampsia.

Directory of Open Access Journals (Sweden)

Shaza M Musa

Full Text Available Although the exact pathophysiology of preeclampsia is not well understood, autonomic nervous system imbalance is suggested as one of the main factors.To investigate heart rate variability (HRV and autonomic modulations in Sudanese pregnant women with preeclampsia.A case-control study (60 women in each arm was conducted at Omdurman Maternity Hospital-Sudan, during the period from June to August, 2014. Cases were women presented with preeclampsia and healthy pregnant women were the controls. Studied groups were matched for important determinants of HRV. Natural logarithm (Ln of total power (TP, high frequency (HF, low frequency (LF and very low frequency (VLF were used to determine HRV. Normalized low and high frequencies (LF Norm and HF Norm were used to evaluate sympathetic and parasympathetic autonomic modulations respectively.Patients with preeclampsia achieved significantly higher LF Norm [49.80 (16.25 vs. 44.55 (19.15, P = 0.044] and LnLF/HF [0.04 (0.68 vs. -0.28 (0.91, P = 0.023] readings, but lower HF Norm [49.08 (15.29 vs. 55.87 (19.56, P = 0.012], compared with healthy pregnant women. Although all other HRV measurements were higher in the patients with preeclampsia compared with the controls, only LnVLF [4.50 (1.19 vs. 4.01 (1.06, P = 0.017] and LnLF [4.01 (1.58 vs. 3.49 (1.23, P = 0.040] reached statistical significance.The study adds further evidence for the dominant cardiac sympathetic modulations on patients with preeclampsia, probably secondary to parasympathetic withdrawal in this group. However, the higher LnVLF and LnLF readings achieved by preeclamptic women compared with the controls are unexpected in the view that augmented sympathetic modulations usually depresses all HRV parameters including these two measures.

Future of Autonomous Ground Logistics: Convoys in the Department of Defense

Science.gov (United States)

2011-02-13

operations. Figure 3 History of Autonomous Vehicles44 Civilian car manufactures have included elements of autonomous vehicles in their...in the area of autonomous vehicles , equal to the capabilities of civilian robotics programs. These contests and competitions inspire new ideas...data into the vehicles , loaded the vehicles with the supplies and drove them to the staging area. From the staging area, the autonomous vehicles self

Autonomic nervous system balance in children and adolescents with craniopharyngioma and hypothalamic obesity.

Science.gov (United States)

Cohen, Michal; Syme, Catriona; McCrindle, Brian W; Hamilton, Jill

2013-06-01

Dysregulation of the autonomic nervous system is thought to be involved in craniopharyngioma-related hypothalamic obesity (CRHO). Increased parasympathetic activity and decreased sympathetic activity have been suggested. We aimed to study autonomic activity using heart rate variability (HRV) and biochemical measures in youth with CRHO compared with controls and to explore relationships between obesity and autonomic indices. A cross-sectional study of 16 youth with CRHO and 16 controls matched for sex, age, and BMI. Anthropometrics, fasting blood-work, resting energy expenditure (REE), 24-h HRV, and 24-h urine catecholamines were assessed. Quality of life, sleepiness, and autonomic symptoms were evaluated. Power spectral analysis of the HRV was performed. HRV power spectral analysis parameters of both parasympathetic activity (mean high frequency (HF (ms(2))) 611±504 vs 459±336, P=0.325) and sympathetic activity (median low frequency/HF 1.62 (1.37, 2.41) vs 1.89 (1.44, 2.99), P=0.650) did not differ between the groups. Parasympathetic activity negatively correlated with central adiposity in both groups (r=-0.53, P=0.034 and r=-0.54, P=0.029) and sympathetic activity positively correlated with central adiposity in CRHO (r=0.51, P=0.043). Youth with CRHO had significantly lower REE; lower health and activity scores in the quality of life questionnaires, and higher sleepiness scores. Autonomic activity was similar in CRHO and control subjects. The degree of central adiposity correlated negatively with parasympathetic activity and positively with sympathetic activity in children with CRHO. These results provide a new perspective regarding autonomic balance in this unique patient population.

Meditation experience predicts introspective accuracy.

Directory of Open Access Journals (Sweden)

Kieran C R Fox

Full Text Available The accuracy of subjective reports, especially those involving introspection of one's own internal processes, remains unclear, and research has demonstrated large individual differences in introspective accuracy. It has been hypothesized that introspective accuracy may be heightened in persons who engage in meditation practices, due to the highly introspective nature of such practices. We undertook a preliminary exploration of this hypothesis, examining introspective accuracy in a cross-section of meditation practitioners (1-15,000 hrs experience. Introspective accuracy was assessed by comparing subjective reports of tactile sensitivity for each of 20 body regions during a 'body-scanning' meditation with averaged, objective measures of tactile sensitivity (mean size of body representation area in primary somatosensory cortex; two-point discrimination threshold as reported in prior research. Expert meditators showed significantly better introspective accuracy than novices; overall meditation experience also significantly predicted individual introspective accuracy. These results suggest that long-term meditators provide more accurate introspective reports than novices.

Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode

Science.gov (United States)

Su, Zikang; Wang, Honglun; Li, Na; Yu, Yue; Wu, Jianfa

2018-02-01

Autonomous aerial refueling (AAR) exact docking control has always been an intractable problem due to the strong nonlinearity, the tight coupling of the 6 DOF aircraft model and the complex disturbances of the multiple environment flows. In this paper, the strongly coupled nonlinear 6 DOF model of the receiver aircraft which considers the multiple flow disturbances is established in the affine nonlinear form to facilitate the nonlinear controller design. The items reflecting the influence of the unknown flow disturbances in the receiver dynamics are taken as the components of the "lumped disturbances" together with the items which have no linear correlation with the virtual control variables. These unmeasurable lumped disturbances are estimated and compensated by a specially designed high order sliding mode observer (HOSMO) with excellent estimation property. With the compensation of the estimated lumped disturbances, a back-stepping high order sliding mode based exact docking flight controller is proposed for AAR in the presence of multiple flow disturbances. Extensive simulation results demonstrate the feasibility and superiority of the proposed docking controller.

High-frequency transformation of a methylotrophic yeast, Candida boidinii, with autonomously replicating plasmids which are also functional in Saccharomyces cerevisiae.

OpenAIRE

Sakai, Y; Goh, T K; Tani, Y

1993-01-01

We have developed a transformation system which uses autonomous replicating plasmids for a methylotrophic yeast, Candida boidinii. Two autonomous replication sequences, CARS1 and CARS2, were newly cloned from the genome of C. boidinii. Plasmids having both a CARS fragment and the C. boidinii URA3 gene transformed C. boidinii ura3 cells to Ura+ phenotype at frequencies of up to 10(4) CFU/micrograms of DNA. From Southern blot analysis, CARS plasmids seemed to exist in polymeric forms as well as...

Digital Watermarking of Autonomous Vehicles Imagery and Video Communication

Science.gov (United States)

2005-10-01

Watermarking of Autonomous Vehicles Imagery and Video Communications Executive Summary We have developed, implemented and tested a known-host-state methodology...2005 Final 01-06-2004->31-08-2005 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Digital Watermarking of Autonomous Vehicles Imagery 5b. GRANTNUMBER and...college of ENGINEERING Center for Advanced VI LLANOVA Communications U N I V E R S I T Y FINAL TECHNICAL REPORT Digital Watermarking of Autonomous

Autonomic Symptoms in Migraineurs: Are They of Clinical Importance

Directory of Open Access Journals (Sweden)

Aysel Milanl›o¤lu

2012-06-01

Full Text Available Aim: The aim of this study was to evaluate the presence of autonomic symptoms in migraine patients with and without aura and to investigate whether there is an association between expression of autonomic symptoms and disease duration, headache side, attack duration and frequency. Methods: The study sample comprised 82 subjects in headachefree phase including 20 migraine with aura patients and 62 - without aura; 61 were females (74.39% and 21 were males (25.61%. The mean headache frequency was 2.63±1.29 per month and the mean duration of headache occurrence was 10.04±7.26 years from the first episode. The subjects were asked whether or not they had autonomic symptoms like diaphoresis, diarrhea, eyelid oedema, pallor, flushing, syncope or syncope-like episode, constipation, palpitation, diuresis, blurred vision, sensation of chills and coldness during each migraine headache. Results: Of all 82 migraine patients, 50 (60.98% experienced at least one of the autonomic symptoms during the attack periods. The most common symptom was flushing (39.2%. Among the autonomic symptoms, syncope or syncope-like episode was significantly more in patients without aura compared to those with aura (p<0.05. In this study, patients who experienced autonomic symptoms during their headache attack had statistically significantly higher attack frequency (p=0.019. Conclusion: This result indicate that migraine patients with autonomic nervous system involvement have more frequent headaches, therefore these patients should be particularly and cautiously investigated. (The Medical Bulletin of Haseki 2011; 49: 62-6

From journal to headline: the accuracy of climate science news in Danish high quality newspapers

DEFF Research Database (Denmark)

Vestergård, Gunver Lystbæk

2011-01-01

analysis to examine the accuracy of Danish high quality newspapers in quoting scientific publications from 1997 to 2009. Out of 88 articles, 46 contained inaccuracies though the majority was found to be insignificant and random. The study concludes that Danish broadsheet newspapers are ‘moderately...

Theoretical foundations for the responsibility of autonomous agents

NARCIS (Netherlands)

Hage, Jaap

This article argues that it is possible to hold autonomous agents themselves, and not only their makers, users or owners, responsible for the acts of these agents. In this connection autonomous systems are computer programs that interact with the outside world without human interference. They

Accuracy of High-Resolution MRI with Lumen Distention in Rectal Cancer Staging and Circumferential Margin Involvement Prediction

International Nuclear Information System (INIS)

Iannicelli, Elsa; Di Renzo, Sara; Ferri, Mario; Pilozzi, Emanuela; Di Girolamo, Marco; Sapori, Alessandra; Ziparo, Vincenzo; David, Vincenzo

2014-01-01

To evaluate the accuracy of magnetic resonance imaging (MRI) with lumen distention for rectal cancer staging and circumferential resection margin (CRM) involvement prediction. Seventy-three patients with primary rectal cancer underwent high-resolution MRI with a phased-array coil performed using 60-80 mL room air rectal distention, 1-3 weeks before surgery. MRI results were compared to postoperative histopathological findings. The overall MRI T staging accuracy was calculated. CRM involvement prediction and the N staging, the accuracy, sensitivity, specificity, positive predictive value (PPV) and negative predictive value (NPV) were assessed for each T stage. The agreement between MRI and histological results was assessed using weighted-kappa statistics. The overall MRI accuracy for T staging was 93.6% (k = 0.85). The accuracy, sensitivity, specificity, PPV and NPV for each T stage were as follows: 91.8%, 86.2%, 95.5%, 92.6% and 91.3% for the group ≤ T2; 90.4%, 94.6%, 86.1%, 87.5% and 94% for T3; 98,6%, 85.7%, 100%, 100% and 98.5% for T4, respectively. The predictive CRM accuracy was 94.5% (k = 0.86); the sensitivity, specificity, PPV and NPV were 89.5%, 96.3%, 89.5%, and 96.3% respectively. The N staging accuracy was 68.49% (k = 0.4). MRI performed with rectal lumen distention has proved to be an effective technique both for rectal cancer staging and involved CRM predicting

Accuracy of High-Resolution MRI with Lumen Distention in Rectal Cancer Staging and Circumferential Margin Involvement Prediction

Energy Technology Data Exchange (ETDEWEB)

Iannicelli, Elsa; Di Renzo, Sara [Radiology Institute, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy); Department of Surgical and Medical Sciences and Translational Medicine, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy); Ferri, Mario [Department of Surgical and Medical Sciences and Translational Medicine, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy); Pilozzi, Emanuela [Department of Clinical and Molecular Sciences, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy); Di Girolamo, Marco; Sapori, Alessandra [Radiology Institute, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy); Department of Surgical and Medical Sciences and Translational Medicine, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy); Ziparo, Vincenzo [Department of Surgical and Medical Sciences and Translational Medicine, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy); David, Vincenzo [Radiology Institute, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy); Department of Surgical and Medical Sciences and Translational Medicine, Faculty of Medicine and Psychology, University of Rome, Sapienza, Sant' Andrea Hospital, Rome 00189 (Italy)

2014-07-01

To evaluate the accuracy of magnetic resonance imaging (MRI) with lumen distention for rectal cancer staging and circumferential resection margin (CRM) involvement prediction. Seventy-three patients with primary rectal cancer underwent high-resolution MRI with a phased-array coil performed using 60-80 mL room air rectal distention, 1-3 weeks before surgery. MRI results were compared to postoperative histopathological findings. The overall MRI T staging accuracy was calculated. CRM involvement prediction and the N staging, the accuracy, sensitivity, specificity, positive predictive value (PPV) and negative predictive value (NPV) were assessed for each T stage. The agreement between MRI and histological results was assessed using weighted-kappa statistics. The overall MRI accuracy for T staging was 93.6% (k = 0.85). The accuracy, sensitivity, specificity, PPV and NPV for each T stage were as follows: 91.8%, 86.2%, 95.5%, 92.6% and 91.3% for the group ≤ T2; 90.4%, 94.6%, 86.1%, 87.5% and 94% for T3; 98,6%, 85.7%, 100%, 100% and 98.5% for T4, respectively. The predictive CRM accuracy was 94.5% (k = 0.86); the sensitivity, specificity, PPV and NPV were 89.5%, 96.3%, 89.5%, and 96.3% respectively. The N staging accuracy was 68.49% (k = 0.4). MRI performed with rectal lumen distention has proved to be an effective technique both for rectal cancer staging and involved CRM predicting.

Gene masking - a technique to improve accuracy for cancer classification with high dimensionality in microarray data.

Science.gov (United States)

Saini, Harsh; Lal, Sunil Pranit; Naidu, Vimal Vikash; Pickering, Vincel Wince; Singh, Gurmeet; Tsunoda, Tatsuhiko; Sharma, Alok

2016-12-05

High dimensional feature space generally degrades classification in several applications. In this paper, we propose a strategy called gene masking, in which non-contributing dimensions are heuristically removed from the data to improve classification accuracy. Gene masking is implemented via a binary encoded genetic algorithm that can be integrated seamlessly with classifiers during the training phase of classification to perform feature selection. It can also be used to discriminate between features that contribute most to the classification, thereby, allowing researchers to isolate features that may have special significance. This technique was applied on publicly available datasets whereby it substantially reduced the number of features used for classification while maintaining high accuracies. The proposed technique can be extremely useful in feature selection as it heuristically removes non-contributing features to improve the performance of classifiers.

Maladaptive autonomic regulation in PTSD accelerates physiological aging

Directory of Open Access Journals (Sweden)

John B Williamson

2015-01-01

Full Text Available A core manifestation of posttraumatic stress disorder is a disconnection between physiological state and psychological and behavior processes necessary to adequately respond to environmental demands. Patients with PTSD experience oscillations in autonomic states that support either fight and flight behaviors or withdrawal, immobilization, and dissociation without an intervening calm state that would provide opportunities for positive social interactions. This defensive autonomic disposition is adaptive in dangerous and life threatening situations, but in the context of every-day life may lead to significant psychosocial distress and deteriorating social relationships. The perpetuation of these maladaptive autonomic responses, may contribute to the development of comorbid mental health issues such as depression, loneliness, and hostility that further modify the nature of cardiovascular behavior in the context of internal and external stressors. Over time, changes in autonomic, endocrine, and immune function contribute to deteriorating health, which is potently expressed in brain dysfunction and cardiovascular health. In this theoretical review paper, we review the literature on the chronic health effects of post-traumatic stress disorder. We discuss the brain networks underlying post-traumatic stress disorder in the context of autonomic efferent and afferent contributions and how disruption of these networks leads to poor health outcomes. Finally, we discuss treatments based on our theoretical model of posttraumatic stress disorder.

Impaired neural structure and function contributing to autonomic symptoms in congenital central hypoventilation syndrome.

Science.gov (United States)

Harper, Ronald M; Kumar, Rajesh; Macey, Paul M; Harper, Rebecca K; Ogren, Jennifer A

2015-01-01

Congenital central hypoventilation syndrome (CCHS) patients show major autonomic alterations in addition to their better-known breathing deficiencies. The processes underlying CCHS, mutations in the PHOX2B gene, target autonomic neuronal development, with frame shift extent contributing to symptom severity. Many autonomic characteristics, such as impaired pupillary constriction and poor temperature regulation, reflect parasympathetic alterations, and can include disturbed alimentary processes, with malabsorption and intestinal motility dyscontrol. The sympathetic nervous system changes can exert life-threatening outcomes, with dysregulation of sympathetic outflow leading to high blood pressure, time-altered and dampened heart rate and breathing responses to challenges, cardiac arrhythmia, profuse sweating, and poor fluid regulation. The central mechanisms contributing to failed autonomic processes are readily apparent from structural and functional magnetic resonance imaging studies, which reveal substantial cortical thinning, tissue injury, and disrupted functional responses in hypothalamic, hippocampal, posterior thalamic, and basal ganglia sites and their descending projections, as well as insular, cingulate, and medial frontal cortices, which influence subcortical autonomic structures. Midbrain structures are also compromised, including the raphe system and its projections to cerebellar and medullary sites, the locus coeruleus, and medullary reflex integrating sites, including the dorsal and ventrolateral medullary nuclei. The damage to rostral autonomic sites overlaps metabolic, affective and cognitive regulatory regions, leading to hormonal disruption, anxiety, depression, behavioral control, and sudden death concerns. The injuries suggest that interventions for mitigating hypoxic exposure and nutrient loss may provide cellular protection, in the same fashion as interventions in other conditions with similar malabsorption, fluid turnover, or hypoxic exposure.

Impaired Neural Structure and Function Contributing to Autonomic Symptoms in Congenital Central Hypoventilation Syndrome

Directory of Open Access Journals (Sweden)

Ronald M Harper

2015-10-01

Full Text Available Congenital central hypoventilation syndrome (CCHS patients show major autonomic alterations in addition to their better-known breathing deficiencies. The processes underlying CCHS, mutations in the PHOX2B gene, target autonomic neuronal development, with frame shift extent contributing to symptom severity. Many autonomic characteristics, such as impaired pupillary constriction and poor temperature regulation, reflect parasympathetic alterations, and can include disturbed alimentary processes, with malabsorption and intestinal motility dyscontrol. The sympathetic nervous system changes can exert life-threatening outcomes, with dysregulation of sympathetic outflow leading to high blood pressure, time-altered and dampened heart rate and breathing responses to challenges, cardiac arrhythmia, profuse sweating, and poor fluid regulation. The central mechanisms contributing to failed autonomic processes are readily apparent from structural and functional magnetic resonance imaging studies, which reveal substantial cortical thinning, tissue injury, and disrupted functional responses in hypothalamic, hippocampal, posterior thalamic, and basal ganglia sites and their descending projections, as well as insular, cingulate, and medial frontal cortices, which influence subcortical autonomic structures. Midbrain structures are also compromised, including the raphe system and its projections to cerebellar and medullary sites, the locus coeruleus, and medullary reflex integrating sites, including the dorsal and ventrolateral medullary nuclei. The damage to rostral autonomic sites overlaps metabolic, affective and cognitive regulatory regions, leading to hormonal disruption, anxiety, depression, behavioral control, and sudden death concerns. The injuries suggest that interventions for mitigating hypoxic exposure and nutrient loss may provide cellular protection, in the same fashion as interventions in other conditions with similar malabsorption, fluid turnover

Computer Vision and Machine Learning for Autonomous Characterization of AM Powder Feedstocks

Science.gov (United States)