WorldWideScience

Sample records for supervised autonomous rendezvous

  1. Autonomous spacecraft rendezvous and docking

    Science.gov (United States)

    Tietz, J. C.; Almand, B. J.

    A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

  2. Autonomous Rendezvous and Docking Conference, volume 1

    Science.gov (United States)

    1990-01-01

    This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. It contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of the ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of the programmatic management, technical, schedule, and cost risks.

  3. Autonomous Rendezvous and Docking Conference, volume 3

    Science.gov (United States)

    1990-01-01

    This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. The document contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of programmatic management, technical, schedule, and cost risks.

  4. Autonomous Rendezvous and Docking Conference, volume 2

    Science.gov (United States)

    1990-01-01

    Autonomous Rendezvous and Docking (ARD) will be a requirement for future space programs. Clear examples include satellite servicing, repair, recovery, and reboost in the near term, and the longer range lunar and planetary exploration programs. ARD will permit more aggressive unmanned space activities, while providing a valuable operational capability for manned missions. The purpose of the conference is to identify the technologies required for an on-orbit demonstration of ARD, assess the maturity of those technologies, and provide the necessary insight for a quality assessment of programmatic management, technical, schedule, and cost risks.

  5. Adaptive control for autonomous rendezvous of spacecraft on elliptical orbit

    Institute of Scientific and Technical Information of China (English)

    Shan Lu; Shijie Xu

    2009-01-01

    A strategy for spacecraft autonomous rendezvous on an elliptical orbit in situation of no orbit information is developed. Lawden equation is used to describe relative motion of two spacecraft. Then an adaptive gain factor is introduced, and an adaptive control law for autonomous rendezvous on the elliptical orbit is designed using Lyapunov approach. The relative motion is proved to be ultimately bounded under this control law, and the final relative position error can achieve the expected magnitude. Simulation results indicate that the adaptive control law can realize autonomous rendezvous on the elliptical orbit with relative state information only.

  6. AggieSat: Autonomous Rendezvous and Docking Technology Demonstrator Project

    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...

  7. Autonomous rendezvous and proximate motion of satellites - A covariance analysis

    Science.gov (United States)

    Mackison, Donald L.; Morenthaler, George W.

    1992-08-01

    The construction of large (10 exp 6 kg) spacecraft in orbit will, in order to meet the requirements of interplanetary launch windows and restrictions of launch facilities require the launch of several 100,000-kg payloads using the Heavy Lift Launch Vehicle (HLLV), and their subsequent in-orbit assembly into a completed spacecraft. This assembly will require that the components rendezvous and dock within a reasonable time, taking into consideration launch window restrictions and the operating time limits on the component spacecraft. This will require that the rendezvous and docking operations be accomplished autonomously, without ground control. The trajectory and attitude control of a chase satellite to rendezvous with a target satellite are modeled using the Euler-Hill equations of relative orbital motion, and a linearized set of relative attitude parameters. The effect of uncertainties in the orbit dynamics and sensors, and the attitude dynamics and sensors are modeled using a linearized covariance analysis.

  8. A Ground Testbed to Advance US Capability in Autonomous Rendezvous and Docking Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The entire Agency supports development of a Commodity for Autonomous Rendezvous and Docking (CARD) as outlined in the Agency-wide Community of Practice whitepaper...

  9. Détection et suivi visuels robustes d'objets complexes : applications au rendezvous spatial autonome

    OpenAIRE

    Petit, Antoine

    2013-01-01

    In this thesis, we address the issue of fully localizing a known object through computer vision, using a monocular camera, what is a central problem in robotics. A particular attention is here paid on space robotics applications, with the aims of providing a unified visual localization system for autonomous navigation purposes for space rendezvous and proximity operations. Two main challenges of the problem are tackled: initially detecting the targeted object and then tracking it frame-by-fra...

  10. An Image-Based Sensor System for Autonomous Rendez-Vous with Uncooperative Satellites

    CERN Document Server

    Miravet, Carlos; Krouch, Eloise; del Cura, Juan Manuel

    2008-01-01

    In this paper are described the image processing algorithms developed by SENER, Ingenieria y Sistemas to cope with the problem of image-based, autonomous rendez-vous (RV) with an orbiting satellite. The methods developed have a direct application in the OLEV (Orbital Life Extension Extension Vehicle) mission. OLEV is a commercial mission under development by a consortium formed by Swedish Space Corporation, Kayser-Threde and SENER, aimed to extend the operational life of geostationary telecommunication satellites by supplying them control, navigation and guidance services. OLEV is planned to use a set of cameras to determine the angular position and distance to the client satellite during the complete phases of rendez-vous and docking, thus enabling the operation with satellites not equipped with any specific navigational aid to provide support during the approach. The ability to operate with un-equipped client satellites significantly expands the range of applicability of the system under development, compar...

  11. Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

    Science.gov (United States)

    DeKock, Brandon K.; Betts, Kevin M.; McDuffie, James H.; Dreas, Christine B.

    2008-01-01

    bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking (AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed for integrating measurements based on the vehicles' orbital mechanics and high-fidelity sensor error models and provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested tinough stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).

  12. Application of neural networks to autonomous rendezvous and docking of space vehicles

    Science.gov (United States)

    Dabney, Richard W.

    1992-01-01

    NASA-Marshall has investigated the feasibility of numerous autonomous rendezvous and docking (ARD) candidate techniques. Neural networks have been studied as a viable basis for such systems' implementation, due to their intrinsic representation of such nonlinear functions as those for which analytical solutions are either difficult or nonexistent. Neural networks are also able to recognize and adapt to changes in their dynamic environment, thereby enhancing redundancy and fault tolerance. Outstanding performance has been obtained from ARD azimuth, elevation, and roll networks of this type.

  13. Spacecraft rendezvous and docking

    DEFF Research Database (Denmark)

    Jørgensen, John Leif

    1999-01-01

    procedures. The method described generates, based on a single camera and a priory information about the target vehicle and orbit data, all necessary guidance information for closed-loop autonomous navigation, from first detection at far distance, to a close up a hold point. Furthermore, the system provide...... been based entirely on direct human supervision and control. This paper describes a vision-based system and methodology, that autonomously generates accurate guidance information that may assist a human operator in performing the tasks associated with both the rendezvous and docking navigation...

  14. An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics

    Science.gov (United States)

    Nelson, Kurt

    1991-01-01

    The avionics system for the Centaur upper stage is in the process of being modernized with the current state-of-the-art in strapdown inertial guidance equipment. This equipment includes an integrated flight control processor with a ring laser gyro based inertial guidance system. This inertial navigation unit (INU) uses two MIL-STD-1750A processors and communicates over the MIL-STD-1553B data bus. Commands are translated into load activation through a Remote Control Unit (RCU) which incorporates the use of solid state relays. Also, a programmable data acquisition system replaces separate multiplexer and signal conditioning units. This modern avionics suite is currently being enhanced through independent research and development programs to provide autonomous rendezvous and docking capability using advanced cruise missile image processing technology and integrated GPS navigational aids. A system concept was developed to combine these technologies in order to achieve a fully autonomous rendezvous, docking, and autoland capability. The current system architecture and the evolution of this architecture using advanced modular avionics concepts being pursued for the National Launch System are discussed.

  15. Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

    Science.gov (United States)

    Tchoryk, Peter, Jr.; Whitten, Raymond P.

    1991-01-01

    SpARC, in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components wherever possible. The primary subsystems to be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be ELV based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. After the second COMET spacecraft has been launched in late 1994, the ARD demonstration will take place. The service module from the second COMET will serve as the chase vehicle.

  16. Spacecraft rendezvous and docking

    DEFF Research Database (Denmark)

    Jørgensen, John Leif

    1999-01-01

    The phenomenons and problems encountered when a rendezvous manoeuvre, and possible docking, of two spacecrafts has to be performed, have been the topic for numerous studies, and, details of a variety of scenarios has been analysed. So far, all solutions that has been brought into realization has...... been based entirely on direct human supervision and control. This paper describes a vision-based system and methodology, that autonomously generates accurate guidance information that may assist a human operator in performing the tasks associated with both the rendezvous and docking navigation...... relative pose information to assist the human operator during the docking phase. The closed loop and operator assistance performance of the system have been assessed using a test bench including human operator, navigation module and high fidelity visualization module. The tests performed verified...

  17. 无人机空中加油自主会合导引律研究%Study on guidance law for UAV autonomous rendezvous in aerial refueling

    Institute of Scientific and Technical Information of China (English)

    许萌; 杨朝星

    2014-01-01

    With the theory research of UAV autonomous guidance law for rendezvous in aerial refueling,the problem of homing guidance with impact final heading constraint is put forward.By redesigning the biased item in the 3D space and viewing the desired rendezvous point as the target and combing with pure tracking in the end of the guidance,the requirement for the terminal heading heading is achieved.Finllay,the guidance law given in the article is proved to be reasonable with a simulation example of air-tanker with constant speed and direction and with U motor,the UAV to select different initial position and heading.The simulation results show that the design of autonomous rendezvous guidance law is effective for UAV aerial refueling autonomous rendezvous, solves the existing class of autonomous rendezvous guidance law design complex, to be known in advance tankers trajectory and a large number of online programming calculation.%针对自主空中加油技术中的会和阶段的理论研究,提出一种带有终端偏航角约束的导引问题。通过对三维空间中重新设计偏置项,来同时约束俯仰与偏航角,将期望的会合点作为跟踪目标,并在制导末端结合纯追踪法,实现终端航向的控制。最后,以匀速直线运动和作U型机动的加油机为例,对无人机(UAV)选取不同的初始位置和航向来检验所提出的制导律实现会合的能力。仿真结果表明,所设计的自主会合制导律有效实现无人机空中加油自主会合,解决了现有一类自主会合制导律设计复杂、需预先已知加油机轨迹及大量在线规划计算的问题。

  18. Autonomous reconfigurable GPS/INS navigation and pointing system for rendezvous and docking

    Science.gov (United States)

    Upadhyay, Triveni N.; Cotterill, Stephen; Deaton, A. Wayne

    1991-01-01

    This paper describes the results of an integrated navigation and pointing system software development effort sponsored by the NASA MSFC through a SBIR Phase 2 Program. The integrated Global Positioning System (GPS)/Inertial Navigation System (INS) implements an autonomous navigation filter that is reconfigurable in real-time to accommodate mission contingencies. An onboard expert system monitors the spacecraft status and reconfigures the navigation filter accordingly, to optimize the system performance. The navigation filter is a multi-mode Kalman filter to estimate the spacecraft position, velocity, and attitude. Three different GPS-based attitude determination techniques, namely, velocity vector matching, attitude vector matching, and interferometric processing, are implemented to encompass different mission contingencies. The integrated GPS/INS navigation filter will use any of these techniques depending on the mission phase and the state of the sensors. The first technique, velocity vector matching, uses the GPS velocity measurement to estimate the INS velocity errors and exploits the correlation between INS velocity and attitude errors to estimate the attitude. The second technique, attitude vector matching, uses INS gyro measurements and GPS carrier phase (integrated Doppler) measurements during a spacecraft rotation maneuver to determine the attitude. Both of these techniques require only one GPS antenna onboard to determine the spacecraft attitude. The third technique, interferometric processing, requires use of multiple GPS antennae. In order to determine 3-axis body attitude, three GPS antennae (2 no-coplanor baselines) are required.

  19. Autonomic function change following a supervised exercise program in patients with congestive heart failure.

    Science.gov (United States)

    Keyhani, Diana; Kargarfard, Mehdi; Sarrafzadegan, Nizal; Sadeghi, Masoumeh

    2013-03-01

    Few studies have investigated changes in autonomic function after training in patients with cardiovascular diseases, particularly patients with congestive heart failure (CHF). Heart rate recovery (HRR) is a strong predictor of mortality in coronary artery disease (CAD) patients. The aim of this study was to determine the effect of 8 weeks of supervised exercise training on autonomic function, which were assessed by heart rate, systolic blood pressure (SBP), and rate-pressure product (RPP) in CHF patients. 65 patients aged 57-82 years with CHF were assigned to two groups randomly. The first group received a supervised 8-week aerobic training program of 30-45 min sessions, 3 days per week on alternate days, while controls received standard medical care and were followed up. Body weight, body mass index, functional capacity, resting heart rate, HRR, resting systolic blood pressure, peak heart rate, peak systolic blood pressure, and RPP were measured before and after the study period. Medications and diet recommendations remained unchanged in both groups during the study period. The exercise group consisted of 33 patients with mean age of 61.54 ± 5.89 years and the controls were 32 patients with mean age of 60.94 ± 5.03 years. One-way analysis of variance (ANOVA) with repeated measures revealed a statistically significant difference in the exercise group compared to the control group regarding body mass index, resting heart rate, heart rate recover, functional capacity, peak heart rate, peak systolic blood pressure, peak RPP after 8 weeks (P ≤ 0.05). In conclusion, a multidisciplinary CR program with supervised exercise training support significantly improves functional capacity and autonomic function in CHF patients. Therefore, a supervised and guided exercise training program is safe and beneficial for patients with CHF with different etiologies.

  20. Fast autonomous guidance algorithm for spacecraft far range rendezvous phasing%航天器交会远程快速自主制导方法

    Institute of Scientific and Technical Information of China (English)

    赵书阁; 陈统; 徐世杰

    2012-01-01

    针对近地近圆轨道航天器交会任务,设计了基于经典轨道要素的远程快速自主制导算法.对于任意初始纬度幅角偏差的远程导引,通过建立纬度幅角偏差与半长轴偏差的关系,将远程导引段分为初始轨道飞行、调相轨道飞行和调整轨道飞行3个阶段.初始轨道飞行进行轨道共面修正和调相机动;在调相轨道飞行期间,进行自然调相以及调相轨道到调整轨道的机动;调整轨道飞行阶段进行追踪航天器的远地点高度和近地点高度的修正,以及再次共面修正.所有变轨机动都以制导脉冲的形式给出,并都在轨道特殊点执行.精确轨道仿真验证了远程快速自主接近制导算法的可行性.%A fast autonomous guidance algorithm was designed based on classical orbital elements for spacecraft far range rendezvous phasing in near-circular orbit.For arbitrary initial argument of latitude difference,the phasing maneuver was divided into three stages—the initial orbit,the phasing orbit and the adjusting orbit according to the relationship of argument of latitude difference and semi-major axis difference.Coplanar orbital correction and phase maneuvering were done in the initial orbit.In the phasing orbit,the argument of latitude difference was adjusted naturally because of the semi-major axis difference,and then the orbit maneuver from the phasing orbit to the adjusting orbit was implemented.In the adjusting orbit,the apogee altitude and the apogee altitude of chase spacecraft are adjusted to the same as those of target spacecraft at first.Furthermore,a coplanar orbital correction was done again to eliminate the cross-track difference.All orbital maneuvers were given as guidance impulses and implemented in the orbital special points.Precise orbital simulation results show that the fast autonomous guidance algorithm for far range phasing maneuvers is feasible.

  1. 自主空中加油会合过程中飞行制导律设计%Flight guidance law design in process of rendezvous for autonomous aerial refueling

    Institute of Scientific and Technical Information of China (English)

    宋海军; 袁锁中; 刘晓宇

    2014-01-01

    Aiming at the problem of rendezvous for autonomous aerial refueling which is a major issue to be solved current-ly,a method of proportional navigation with terminal angular constraint is used to guide the receiver to flight into refueling dis-trict. The nonlinear guidance algorithm is adopted for the tanker to guide the tanker to flight on the racetrack. A solution to over-cove the nonlinear guidance algorithm failure caused by wind is presented. The concepts of virtual target and virtual tanker is in-troduced to maintain the time synchronize of the receiver and the tanker in rendezvous. A corresponding velocity controller was designed. The simulation platform was built with Matlab/Simulink to verify the rendezvous guidance law for autonomous aerial re-fueling. The simulation results show that the guidance law can satisfy the requirement of rendezvous for autonomous aerial re-fueling.%针对目前自主空中加油亟需解决的会合问题,采用带有末端角约束的比例导引方法,实现了受油机导引进入加油区域,加油机采用非线性制导算法跟踪赛马场跑道线飞行,并给出了有风条件下非线性制导算法可能失效的解决办法。引入虚拟目标和虚拟加油机的概念,保持受油机和加油机在会合上的时间同步,设计了相应的速度控制器。利用Mat-lab/Simulink搭建仿真平台对空中加油会合制导律进行了仿真验证,仿真结果表明设计的制导律能满足自主空中加油的会合要求。

  2. Flash 3D Rendezvous and Docking Sensor Project

    Data.gov (United States)

    National Aeronautics and Space Administration — With NASA's exploration initiative to return to Lunar Exploration and eventual human exploration of Mars, NASA has an increased need for an Autonomous Rendezvous and...

  3. Distributed Multi-Level Supervision to Effectively Monitor the Operations of a Fleet of Autonomous Vehicles in Agricultural Tasks

    Science.gov (United States)

    Conesa-Muñoz, Jesús; Gonzalez-de-Soto, Mariano; Gonzalez-de-Santos, Pablo; Ribeiro, Angela

    2015-01-01

    This paper describes a supervisor system for monitoring the operation of automated agricultural vehicles. The system analyses all of the information provided by the sensors and subsystems on the vehicles in real time and notifies the user when a failure or potentially dangerous situation is detected. In some situations, it is even able to execute a neutralising protocol to remedy the failure. The system is based on a distributed and multi-level architecture that divides the supervision into different subsystems, allowing for better management of the detection and repair of failures. The proposed supervision system was developed to perform well in several scenarios, such as spraying canopy treatments against insects and diseases and selective weed treatments, by either spraying herbicide or burning pests with a mechanical-thermal actuator. Results are presented for selective weed treatment by the spraying of herbicide. The system successfully supervised the task; it detected failures such as service disruptions, incorrect working speeds, incorrect implement states, and potential collisions. Moreover, the system was able to prevent collisions between vehicles by taking action to avoid intersecting trajectories. The results show that the proposed system is a highly useful tool for managing fleets of autonomous vehicles. In particular, it can be used to manage agricultural vehicles during treatment operations. PMID:25751079

  4. Distributed Multi-Level Supervision to Effectively Monitor the Operations of a Fleet of Autonomous Vehicles in Agricultural Tasks

    Directory of Open Access Journals (Sweden)

    Jesús Conesa-Muñoz

    2015-03-01

    Full Text Available This paper describes a supervisor system for monitoring the operation of automated agricultural vehicles. The system analyses all of the information provided by the sensors and subsystems on the vehicles in real time and notifies the user when a failure or potentially dangerous situation is detected. In some situations, it is even able to execute a neutralising protocol to remedy the failure. The system is based on a distributed and multi-level architecture that divides the supervision into different subsystems, allowing for better management of the detection and repair of failures. The proposed supervision system was developed to perform well in several scenarios, such as spraying canopy treatments against insects and diseases and selective weed treatments, by either spraying herbicide or burning pests with a mechanical-thermal actuator. Results are presented for selective weed treatment by the spraying of herbicide. The system successfully supervised the task; it detected failures such as service disruptions, incorrect working speeds, incorrect implement states, and potential collisions. Moreover, the system was able to prevent collisions between vehicles by taking action to avoid intersecting trajectories. The results show that the proposed system is a highly useful tool for managing fleets of autonomous vehicles. In particular, it can be used to manage agricultural vehicles during treatment operations.

  5. Cross Cutting Relative Navigation Technologies for Improved Landing Accuracy and Vehicle-to-Vehicle Rendezvous and Docking

    Science.gov (United States)

    Miller, K. L.; Masciarelli, J.; Rohrschneider, R. R.

    2012-06-01

    This presentation addresses recent development and test progress, as well as future technology advancement plans for precision landing and Autonomous Rendezvous, Proximity Operations and Docking (ARPOD).

  6. Autonomous Tractor Navigation in Orchard - Diagnosis and Supervision for Enhanced Availability

    DEFF Research Database (Denmark)

    Hansen, Søren; Blanke, Mogens; Andersen, Jens Christian

    2009-01-01

    supervision, using expectation maximisation of laser-scanner output against uncertain map features. Analysis of system behaviours and their structure shows which redundant information is available to construct a supervisor. Tests on real life orchard data demonstrates the feasibility of the new approach....

  7. A Proposed Strategy for the U.S. to Develop and Maintain a Mainstream Capability Suite ("Warehouse") for Automated/Autonomous Rendezvous and Docking in Low Earth Orbit and Beyond

    Science.gov (United States)

    Krishnakumar, Kalmanje S.; Stillwater, Ryan A.; Babula, Maria; Moreau, Michael C.; Riedel, J. Ed; Mrozinski, Richard B.; Bradley, Arthur; Bryan, Thomas C.

    2012-01-01

    The ability of space assets to rendezvous and dock/capture/berth is a fundamental enabler for numerous classes of NASA fs missions, and is therefore an essential capability for the future of NASA. Mission classes include: ISS crew rotation, crewed exploration beyond low-Earth-orbit (LEO), on-orbit assembly, ISS cargo supply, crewed satellite servicing, robotic satellite servicing / debris mitigation, robotic sample return, and robotic small body (e.g. near-Earth object, NEO) proximity operations. For a variety of reasons to be described, NASA programs requiring Automated/Autonomous Rendezvous and Docking/Capture/Berthing (AR&D) capabilities are currently spending an order-of-magnitude more than necessary and taking twice as long as necessary to achieve their AR&D capability, "reinventing the wheel" for each program, and have fallen behind all of our foreign counterparts in AR&D technology (especially autonomy) in the process. To ensure future missions' reliability and crew safety (when applicable), to achieve the noted cost and schedule savings by eliminate costs of continually "reinventing the wheel ", the NASA AR&D Community of Practice (CoP) recommends NASA develop an AR&D Warehouse, detailed herein, which does not exist today. The term "warehouse" is used herein to refer to a toolbox or capability suite that has pre-integrated selectable supply-chain hardware and reusable software components that are considered ready-to-fly, low-risk, reliable, versatile, scalable, cost-effective, architecture and destination independent, that can be confidently utilized operationally on human spaceflight and robotic vehicles over a variety of mission classes and design reference missions, especially beyond LEO. The CoP also believes that it is imperative that NASA coordinate and integrate all current and proposed technology development activities into a cohesive cross-Agency strategy to produce and utilize this AR&D warehouse. An initial estimate indicates that if NASA

  8. IMPACT OF PHYSIOTHERAPIST-DESIGNED SUPERVISED EXERCISE PROTOCOL ON MUSCLE STRENGTH, AND AUTONOMIC PARAMETERS IN PATIENTS WITH TYPE 2 DIABETES MELLITUS: A CLINICAL TRIAL

    Directory of Open Access Journals (Sweden)

    Renu B. Pattanshetty

    2015-04-01

    Full Text Available Background and Objectives: Type 2 diabetes mellitus is a heterogeneous group of disorders characterized by variable degree of insulin resistance, impaired insulin secretion, and increased glucose production. Physical activity is central to the management type 2 diabetes. There is less evidence to suggest the efficacy of combined effect of physiotherapist- designed supervised exercise protocol on muscle strength and autonomic parameters in such subjects. Hence, the present study was designed to evaluate effect of physiotherapist designed supervised exercise protocol of muscle strength and autonomic parameters in this subject population. Material and Methods: This clinical trial was conducted in thirty (30 adult subjects with type 2 diabetes mellitus including both males and females in the age group of 18 to 65 years. All subjects received physiotherapist designed supervised exercise training protocol consisting of aerobic, resistance & flexibility training. Pre-exercise and post-exercise outcome measurements were taken at baseline, 7th & 14th day in the form of 1-RM for muscle strength and autonomic parameters. Results: Statistical analysis of outcomes at baseline, 7th day and 14th day showed statistically significant difference in strength (p=0.0001, and reduction in autonomic parameters (p=0.0001 Conclusion: The therapist designed exercise protocol has shown to improve muscle strength , mean systolic blood pressure, diastolic blood pressure, pulse rate, pulse pressure, mean arterial pressure, rate pressure product. The protocol has also proved to be safe since no adverse event was noted post exercise.

  9. Effects of automation and task load on task switching during human supervision of multiple semi-autonomous robots in a dynamic environment.

    Science.gov (United States)

    Squire, P N; Parasuraman, R

    2010-08-01

    The present study assessed the impact of task load and level of automation (LOA) on task switching in participants supervising a team of four or eight semi-autonomous robots in a simulated 'capture the flag' game. Participants were faster to perform the same task than when they chose to switch between different task actions. They also took longer to switch between different tasks when supervising the robots at a high compared to a low LOA. Task load, as manipulated by the number of robots to be supervised, did not influence switch costs. The results suggest that the design of future unmanned vehicle (UV) systems should take into account not simply how many UVs an operator can supervise, but also the impact of LOA and task operations on task switching during supervision of multiple UVs. The findings of this study are relevant for the ergonomics practice of UV systems. This research extends the cognitive theory of task switching to inform the design of UV systems and results show that switching between UVs is an important factor to consider.

  10. How to Build a Supervised Autonomous System for Robot-Enhanced Therapy for Children with Autism Spectrum Disorder

    Directory of Open Access Journals (Sweden)

    Esteban Pablo G.

    2017-04-01

    Full Text Available Robot-Assisted Therapy (RAT has successfully been used to improve social skills in children with autism spectrum disorders (ASD through remote control of the robot in so-called Wizard of Oz (WoZ paradigms.However, there is a need to increase the autonomy of the robot both to lighten the burden on human therapists (who have to remain in control and, importantly, supervise the robot and to provide a consistent therapeutic experience. This paper seeks to provide insight into increasing the autonomy level of social robots in therapy to move beyond WoZ. With the final aim of improved human-human social interaction for the children, this multidisciplinary research seeks to facilitate the use of social robots as tools in clinical situations by addressing the challenge of increasing robot autonomy.We introduce the clinical framework in which the developments are tested, alongside initial data obtained from patients in a first phase of the project using a WoZ set-up mimicking the targeted supervised-autonomy behaviour. We further describe the implemented system architecture capable of providing the robot with supervised autonomy.

  11. Short-term supervised inpatient physiotherapy exercise protocol improves cardiac autonomic function after coronary artery bypass graft surgery--a randomised controlled trial.

    Science.gov (United States)

    Mendes, Renata Gonçalves; Simões, Rodrigo Polaquini; De Souza Melo Costa, Fernando; Pantoni, Camila Bianca Falasco; Di Thommazo, Luciana; Luzzi, Sérgio; Catai, Aparecida Maria; Arena, Ross; Borghi-Silva, Audrey

    2010-01-01

    Coronary artery bypass grafting (CABG) is accompanied by severe impairment of cardiac autonomous regulation (CAR). This study aimed to determine whether a short-term physiotherapy exercise protocol post-CABG, during inpatient cardiac rehabilitation (CR), might improve CAR. Seventy-four patients eligible for CABG were recruited and randomised into physiotherapy exercise group (EG) or physiotherapy usual care group (UCG). EG patients underwent a short-term supervised inpatient physiotherapy exercise protocol consisting of an early mobilisation with progressive exercises plus usual care (respiratory exercises). UCG only received respiratory exercises. Forty-seven patients (24 EG and 23 UGC) completed the study. Outcome measures of CAR included linear and non-linear measures of heart rate variability (HRV) assessed before discharge. By hospital discharge, EG presented significantly higher parasympathetic HRV values [rMSSD, high frequency (HF), SD1)], global power (STD RR, SD2), non-linear HRV indexes [detrended fluctuation analysis (DFA)alpha1, DFAalpha2, approximate entropy (ApEn)] and mean RR compared to UCG (pCAR at the time of discharge. Thus, exercise-based inpatient CR might be an effective non-pharmacological tool to improve autonomic cardiac tone in patient's post-CABG.

  12. History of Space Shuttle Rendezvous

    Science.gov (United States)

    Goodman, John L.

    2011-01-01

    This technical history is intended to provide a technical audience with an introduction to the rendezvous and proximity operations history of the Space Shuttle Program. It details the programmatic constraints and technical challenges encountered during shuttle development in the 1970s and over thirty years of shuttle missions. An overview of rendezvous and proximity operations on many shuttle missions is provided, as well as how some shuttle rendezvous and proximity operations systems and flight techniques evolved to meet new programmatic objectives. This revised edition provides additional information on Mercury, Gemini, Apollo, Skylab, and Apollo/Soyuz. Some chapters on the Space Shuttle have been updated and expanded. Four special focus chapters have been added to provide more detailed information on shuttle rendezvous. A chapter on the STS-39 mission of April/May 1991 describes the most complex deploy/retrieve mission flown by the shuttle. Another chapter focuses on the Hubble Space Telescope servicing missions. A third chapter gives the reader a detailed look at the February 2010 STS-130 mission to the International Space Station. The fourth chapter answers the question why rendezvous was not completely automated on the Gemini, Apollo, and Space Shuttle vehicles.

  13. Result of Rendezvous Docking Experiment of ETS.35zw .5zw .25mmVII

    Science.gov (United States)

    Kawano, Isao; Mokuno, Masaaki; Suzuki, Takashi; Koyama, Hiroshi; Kunugi, Makoto

    ETS VII is a test satellite to perform in-orbit demonstration of autonomous rendezvous docking (RVD) technology, which will be necessary for advanced space activities in the early 21st century. ETS VII performed three RVD experiment flights, and verified all technical items. ETS VII demonstrated first autonomous RVD between unmanned vehicles, and remote piloted rendezvous flight position accuracy at docking was about 1cm, and acceleration was less than 1.5mG (low impact docking). In the second RVD experiment flight, ETS VII detected attitude anomaly and executed disable abort for safety insurance. We present the results and evaluation of three RVD experiment flights in this paper.

  14. Guidance and control of autonomous rendezvous in aerial refueling based on Dubins path planning%基于Dubins路径的空中加油自主会合制导与控制

    Institute of Scientific and Technical Information of China (English)

    龚全铨; 袁锁中; 张进

    2016-01-01

    针对空中加油过程中,受油机需要在最短时间内与加油机完成会合的情况,设计了一种基于Dubins路径的航路规划方法。该方法利用Dubins路径的原理,结合受油机的飞行性能和最小转弯半径等因素,计算出一条最短的会合轨迹,并给出轨迹上的预计转弯点和预计会合点作为受油机的目标路径点,这样提高了飞行效率减小会合时间。采用比例制导方法设计了受油机的制导指令,并采用基于RBF神经网络的backstepping方法设计了受油机非线性控制律。以受油机主动会合为例进行了仿真,结果表明该方法能够引导受油机实现与加油机的会合,且路径时间最短。%In the course of aerial refueling, the receiver must rendezvous with the tanker in a short time period. In this study, we designed a path planning method based on the Dubins path to solve this problem. Combining the fac⁃tors of the receiver’ s flight performance and the minimum turn radius, we calculated the shortest path and genera⁃ted two guidance points for the receiver—the predicted turn point and the predicted intercept point—thereby in⁃creasing the flying efficiency and reducing the rendezvous time. We used the proportional navigation ( PN) guidance law to generate the guidance command for the receiver. We designed the control law of the nonlinear model of the receiver using the backstepping method based on the radial basis function ( RBF) neural network. Our nonlinear numerical simulation results demonstrate that the control law is able to guide the receiver to rendezvous with the tanker using the shortest path.

  15. Sensory fusion for planetary surface robotic navigation, rendezvous, and manipulation operations

    Science.gov (United States)

    Huntsberger, T.; Cheng, Y.; Baumgartner, E. T.; Robinson, M.; Schenker, P. S.

    2003-01-01

    This paper reports some of the ongoing work at JPL in the areas of autonomous sensory fusion of both raw and derived inputs for better localization during long traverses, precision rendezvous operations with both labeled and unlabeled targets, and precision manipulation of targets.

  16. The mobile agent rendezvous problem in the ring

    CERN Document Server

    Kranakis, Evangelos; Marcou, Euripides

    2010-01-01

    Mobile agent computing is being used in fields as diverse as artificial intelligence, computational economics and robotics. Agents' ability to adapt dynamically and execute asynchronously and autonomously brings potential advantages in terms of fault-tolerance, flexibility and simplicity. This monograph focuses on studying mobile agents as modelled in distributed systems research and in particular within the framework of research performed in the distributed algorithms community. It studies the fundamental question of how to achieve rendezvous, the gathering of two or more agents at the same n

  17. The Modular Clock Algorithm for Blind Rendezvous

    Science.gov (United States)

    2009-03-26

    Malinowski [11] define the multiple agent rendezvous problem as the gathering problem. Analysis in this paper will be done on the two agent rendezvous...February 2007. 11. D. Kowalski and A. Malinowski . How to meet in an anonymous network. Theo- retical Computer Science, 2008. 12. Wei Shi Lim. A

  18. Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

    Science.gov (United States)

    Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

    2017-08-01

    Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

  19. Kollegial supervision

    DEFF Research Database (Denmark)

    Andersen, Ole Dibbern; Petersson, Erling

    Publikationen belyser, hvordan kollegial supervision i en kan organiseres i en uddannelsesinstitution......Publikationen belyser, hvordan kollegial supervision i en kan organiseres i en uddannelsesinstitution...

  20. 75 FR 44794 - Rendezvous International v.

    Science.gov (United States)

    2010-07-29

    ... From the Federal Register Online via the Government Publishing Office FEDERAL MARITIME COMMISSION Rendezvous International v. Chief Cargo Services, Inc., Kaiser Apparel, Inc., Edco Logistics, Inc., Oriental.... Karen V. Gregory, Secretary. BILLING CODE P ...

  1. Reactive Rendezvous and Docking Sequencer Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Mars Sample Return poses some of the most challenging operational activities of any NASA deep space mission. Rendezvous of a vehicle with a sample canister in order...

  2. Rocket Rendezvous at Preassigned Destinations with Optimum

    Directory of Open Access Journals (Sweden)

    T. N. Srivastava

    1982-10-01

    Full Text Available The problem of rendezvous of an interceptor rocket vehicle through optimal exit path with a destination rocket vehicle at a preassigned location on the destination orbit has been investigated for non-coaxial coplanar elliptic launch and destination orbits in an inverse square gravitational field. The case, when launch and destination orbits are coplanar circular, is also discussed. In the end numerical results for rendezvous have been obtained taking Earth and Mars orbits as launch and destination orbits respectively.

  3. Optimal impulsive ellipse-to-circle coplanar rendezvous

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    The problem of ellipse-to-circle coplanar rendezvous with chaser spacecraft in low eccentricity was investigated in this paper.With reference frame established in the centroid of the target spacecraft,the process of ellipse-to-circle coplanar rendezvous was described by the relative equations based on cy-lindrical reference frame,and then the solutions and distributions of optimal rendezvous models of a kind of close ellipse-to-circle coplanar rendezvous were provided.The simulation results showed that the guidance law based on the optimal rendezvous model in this research has good performance,and that the distributions of optimal rendezvous models of ellipse-to-circle coplanar rendezvous with the chaser spacecraft in low eccentricity are similar,albeit with slight difference,to those of rendezvous between close circular orbits.The work in this paper is a useful extension to Prussing’s optimal ren-dezvous theory between close circular orbits.

  4. Picosats for Autonomous Rendezvous and Docking Technology Demonstration Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Over the next decade, a host of new technologies and capabilities will be needed by NASA to support Project Constellation. For risk reduction considerations, it is...

  5. Rendezvous Facilities in a Distributed Computer System

    Institute of Scientific and Technical Information of China (English)

    廖先Zhi; 金兰

    1995-01-01

    The distributed computer system described in this paper is a set of computer nodes interconnected in an interconnection network via packet-switching interfaces.The nodes communicate with each other by means of message-passing protocols.This paper presents the implementation of rendezvous facilities as high-level primitives provided by a parallel programming language to support interprocess communication and synchronization.

  6. Orion Handling Qualities During ISS Rendezvous and Docking

    Science.gov (United States)

    Hart, Jeremy J.; Stephens, J. P.; Spehar, P.; Bilimoria, K.; Foster, C.; Gonzalex, R.; Sullivan, K.; Jackson, B.; Brazzel, J.; Hart, J.

    2011-01-01

    The Orion spacecraft was designed to rendezvous with multiple vehicles in low earth orbit (LEO) and beyond. To perform the required rendezvous and docking task, Orion must provide enough control authority to perform coarse translational maneuvers while maintaining precision to perform the delicate docking corrections. While Orion has autonomous docking capabilities, it is expected that final approach and docking operations with the International Space Station (ISS) will initially be performed in a manual mode. A series of evaluations was conducted by NASA and Lockheed Martin at the Johnson Space Center to determine the handling qualities (HQ) of the Orion spacecraft during different docking and rendezvous conditions using the Cooper-Harper scale. This paper will address the specifics of the handling qualities methodology, vehicle configuration, scenarios flown, data collection tools, and subject ratings and comments. The initial Orion HQ assessment examined Orion docking to the ISS. This scenario demonstrates the Translational Hand Controller (THC) handling qualities of Orion. During this initial assessment, two different scenarios were evaluated. The first was a nominal docking approach to a stable ISS, with Orion initializing with relative position dispersions and a closing rate of approximately 0.1 ft/sec. The second docking scenario was identical to the first, except the attitude motion of the ISS was modeled to simulate a stress case ( 1 degree deadband per axis and 0.01 deg/sec rate deadband per axis). For both scenarios, subjects started each run on final approach at a docking port-to-port range of 20 ft. Subjects used the THC in pulse mode with cues from the docking camera image, window views, and range and range rate data displayed on the Orion display units. As in the actual design, the attitude of the Orion vehicle was held by the automated flight control system at 0.5 degree deadband per axis. Several error sources were modeled including Reaction

  7. Survey of orbital dynamics and control of space rendezvous

    Institute of Scientific and Technical Information of China (English)

    Luo Yazhong; Zhang Jin; Tang Guojin

    2014-01-01

    Rendezvous orbital dynamics and control (RODC) is a key technology for operating space rendezvous and docking missions. This paper surveys the studies on RODC. Firstly, the basic relative dynamics equation set is introduced and its improved versions are evaluated. Secondly, studies on rendezvous trajectory optimization are commented from three aspects:the linear rendez-vous, the nonlinear two-body rendezvous, and the perturbed and constrained rendezvous. Thirdly, studies on relative navigation are briefly reviewed, and then close-range control methods including automated control, manual control, and telecontrol are analyzed. Fourthly, advances in rendezvous trajectory safety and robust analysis are surveyed, and their applications in trajectory optimization are discussed. Finally, conclusions are drawn and prospects of studies on RODC are presented.

  8. Flocking and rendezvous in distributed robotics

    CERN Document Server

    Francis, Bruce A

    2016-01-01

    This brief describes the coordinated control of groups of robots using only sensory input – and no direct external commands. Furthermore, each robot employs the same local strategy, i.e., there are no leaders, and the text also deals with decentralized control, allowing for cases in which no single robot can sense all the others. One can get intuition for the problem from the natural world, for example, flocking birds. How do they achieve and maintain their flying formation? Recognizing their importance as the most basic coordination tasks for mobile robot networks, the brief details flocking and rendezvous. They are shown to be physical illustrations of emergent behaviors with global consensus arising from local interactions. The authors extend the consideration of these fundamental ideas to describe their operation in flying robots and prompt readers to pursue further research in the field.  Flocking and Rendezvous in Distributed Robotics will provide graduate students a firm grounding in the subject, w...

  9. RENDEZVOUS ACCURACY OF THE OMEGA NAVIGATION SYSTEM.

    Science.gov (United States)

    yards, with the time of day or environment having no apparent effect on the rendezvous errors. The Haiku -Summit pair showed a greater variation in...input amplitude was marginal. During this experiment the majority of the AGC readings were above this value for receptions from Haiku . The additional...electrical noise in the helicopter and an inadequate antenna combined with the already weak Haiku signal aided in making the Haiku -Summit readings marginal. (Author)

  10. Researching online supervision

    DEFF Research Database (Denmark)

    Smedegaard Ernst Bengtsen, Søren; Mathiasen, Helle

    2014-01-01

    , or a poor substitution of such. This one-sidedness on the conceptual level makes it challenging to empirically study the deeper implications digital tools have for the supervisory dialogue. Drawing on phenomenology and systems theory we argue that we need new concepts in qualitative methodology that allow...... us to research the digital tools on their own premises as autonomous things in themselves, possessing an ontological creativity of their own. In order for qualitative research to match the ontological nature of digital tools we conclude the article by formulating three criteria of a ‘torn......’ methodology that makes room for new approaches to researching online supervision at the university....

  11. Researching online supervision

    DEFF Research Database (Denmark)

    Bengtsen, Søren S. E.; Mathiasen, Helle

    2014-01-01

    us to research the digital tools on their own premises as autonomous things in themselves, possessing an ontological creativity of their own. In order for qualitative research to match the ontological nature of digital tools we conclude the article by formulating three criteria of a ‘torn......’ methodology that makes room for new approaches to researching online supervision at the university......., or a poor substitution of such. This one-sidedness on the conceptual level makes it challenging to empirically study the deeper implications digital tools have for the supervisory dialogue. Drawing on phenomenology and systems theory we argue that we need new concepts in qualitative methodology that allow...

  12. Clinical supervision.

    Science.gov (United States)

    Goorapah, D

    1997-05-01

    The introduction of clinical supervision to a wider sphere of nursing is being considered from a professional and organizational point of view. Positive views are being expressed about adopting this concept, although there are indications to suggest that there are also strong reservations. This paper examines the potential for its success amidst the scepticism that exists. One important question raised is whether clinical supervision will replace or run alongside other support systems.

  13. Imaging Flash Lidar for Safe Landing on Solar System Bodies and Spacecraft Rendezvous and Docking

    Science.gov (United States)

    Amzajerdian, Farzin; Roback, Vincent E.; Bulyshev, Alexander E.; Brewster, Paul F.; Carrion, William A; Pierrottet, Diego F.; Hines, Glenn D.; Petway, Larry B.; Barnes, Bruce W.; Noe, Anna M.

    2015-01-01

    NASA has been pursuing flash lidar technology for autonomous, safe landing on solar system bodies and for automated rendezvous and docking. During the final stages of the landing from about 1 kilometer to 500 meters above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard flight computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16,000 pixels range images with 7 centimeters precision, at 20 Hertz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument and presents the results of recent flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus) built by NASA Johnson Space Center. The flights were conducted at a simulated lunar terrain site, consisting of realistic hazard features and designated landing areas, built at NASA Kennedy Space Center specifically for this demonstration test. This paper also provides an overview of the plan for continued advancement of the flash lidar technology aimed at enhancing its performance to meet both landing and automated rendezvous and docking applications.

  14. Autonomous Deep-Space Optical Navigation Project

    Science.gov (United States)

    D'Souza, Christopher

    2014-01-01

    This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

  15. On-Orbit Autonomous Assembly from Nanosatellites

    Science.gov (United States)

    Murchison, Luke S.; Martinez, Andres; Petro, Andrew

    2015-01-01

    The On-Orbit Autonomous Assembly from Nanosatellites (OAAN) project will demonstrate autonomous control algorithms for rendezvous and docking maneuvers; low-power reconfigurable magnetic docking technology; and compact, lightweight and inexpensive precision relative navigation using carrier-phase differential (CD) GPS with a three-degree of freedom ground demonstration. CDGPS is a specific relative position determination method that measures the phase of the GPS carrier wave to yield relative position data accurate to.4 inch (1 centimeter). CDGPS is a technology commonly found in the surveying industry. The development and demonstration of these technologies will fill a current gap in the availability of proven autonomous rendezvous and docking systems for small satellites.

  16. Hyperbolic Rendezvous at Mars: Risk Assessments and Mitigation Strategies

    Science.gov (United States)

    Jedrey, Ricky; Landau, Damon; Whitley, Ryan

    2015-01-01

    Given the current interest in the use of flyby trajectories for human Mars exploration, a key requirement is the capability to execute hyperbolic rendezvous. Hyperbolic rendezvous is used to transport crew from a Mars centered orbit, to a transiting Earth bound habitat that does a flyby. Representative cases are taken from future potential missions of this type, and a thorough sensitivity analysis of the hyperbolic rendezvous phase is performed. This includes early engine cutoff, missed burn times, and burn misalignment. A finite burn engine model is applied that assumes the hyperbolic rendezvous phase is done with at least two burns.

  17. Whither Supervision?

    Directory of Open Access Journals (Sweden)

    Duncan Waite

    2006-11-01

    Full Text Available This paper inquires if the school supervision is in decadence. Dr. Waite responds that the answer will depend on which perspective you look at it. Dr. Waite suggests taking in consideration three elements that are related: the field itself, the expert in the field (the professor, the theorist, the student and the administrator, and the context. When these three elements are revised, it emphasizes that there is not a consensus about the field of supervision, but there are coincidences related to its importance and that it is related to the improvement of the practice of the students in the school for their benefit. Dr. Waite suggests that the practice on this field is not always in harmony with what the theorists affirm. When referring to the supervisor or the skilled person, the author indicates that his or her perspective depends on his or her epistemological believes or in the way he or she conceives the learning; that is why supervision can be understood in different ways. About the context, Waite suggests that there have to be taken in consideration the social or external forces that influent the people and the society, because through them the education is affected. Dr. Waite concludes that the way to understand the supervision depends on the performer’s perspective. He responds to the initial question saying that the supervision authorities, the knowledge on this field, the performers, and its practice, are maybe spread but not extinct because the supervision will always be part of the great enterprise that we called education.

  18. SPARTAN: A High-Fidelity Simulation for Automated Rendezvous and Docking Applications

    Science.gov (United States)

    Turbe, Michael A.; McDuffie, James H.; DeKock, Brandon K.; Betts, Kevin M.; Carrington, Connie K.

    2007-01-01

    bd Systems (a subsidiary of SAIC) has developed the Simulation Package for Autonomous Rendezvous Test and ANalysis (SPARTAN), a high-fidelity on-orbit simulation featuring multiple six-degree-of-freedom (6DOF) vehicles. SPARTAN has been developed in a modular fashion in Matlab/Simulink to test next-generation automated rendezvous and docking guidance, navigation,and control algorithms for NASA's new Vision for Space Exploration. SPARTAN includes autonomous state-based mission manager algorithms responsible for sequencing the vehicle through various flight phases based on on-board sensor inputs and closed-loop guidance algorithms, including Lambert transfers, Clohessy-Wiltshire maneuvers, and glideslope approaches The guidance commands are implemented using an integrated translation and attitude control system to provide 6DOF control of each vehicle in the simulation. SPARTAN also includes high-fidelity representations of a variety of absolute and relative navigation sensors that maybe used for NASA missions, including radio frequency, lidar, and video-based rendezvous sensors. Proprietary navigation sensor fusion algorithms have been developed that allow the integration of these sensor measurements through an extended Kalman filter framework to create a single optimal estimate of the relative state of the vehicles. SPARTAN provides capability for Monte Carlo dispersion analysis, allowing for rigorous evaluation of the performance of the complete proposed AR&D system, including software, sensors, and mechanisms. SPARTAN also supports hardware-in-the-loop testing through conversion of the algorithms to C code using Real-Time Workshop in order to be hosted in a mission computer engineering development unit running an embedded real-time operating system. SPARTAN also contains both runtime TCP/IP socket interface and post-processing compatibility with bdStudio, a visualization tool developed by bd Systems, allowing for intuitive evaluation of simulation results. A

  19. Rendezvous missions with minimoons from L1

    Science.gov (United States)

    Chyba, M.; Haberkorn, T.; Patterson, G.

    2014-07-01

    We propose to present asteroid capture missions with the so-called minimoons. Minimoons are small asteroids that are temporarily captured objects on orbits in the Earth-Moon system. It has been suggested that, despite their small capture probability, at any time there are one or two meter diameter minimoons, and progressively greater numbers at smaller diameters. The minimoons orbits differ significantly from elliptical orbits which renders a rendezvous mission more challenging, however they offer many advantages for such missions that overcome this fact. First, they are already on geocentric orbits which results in short duration missions with low Delta-v, this translates in cost efficiency and low-risk targets. Second, beside their close proximity to Earth, an advantage is their small size since it provides us with the luxury to retrieve the entire asteroid and not only a sample of material. Accessing the interior structure of a near-Earth satellite in its morphological context is crucial to an in-depth analysis of the structure of the asteroid. Historically, 2006 RH120 is the only minimoon that has been detected but work is ongoing to determine which modifications to current observation facilities is necessary to provide detection algorithm capabilities. In the event that detection is successful, an efficient algorithm to produce a space mission to rendezvous with the detected minimoon is highly desirable to take advantage of this opportunity. This is the main focus of our work. For the design of the mission we propose the following. The spacecraft is first placed in hibernation on a Lissajoux orbit around the liberation point L1 of the Earth-Moon system. We focus on eight-shaped Lissajoux orbits to take advantage of the stability properties of their invariant manifolds for our transfers since the cost to minimize is the spacecraft fuel consumption. Once a minimoon has been detected we must choose a point on its orbit to rendezvous (in position and velocities

  20. Rendezvous, un juego de Lewis Carroll

    Directory of Open Access Journals (Sweden)

    José Manuel Sánchez Muñoz

    2011-10-01

    Full Text Available Todos en mayor o menor medida asociamos el nombre de Lewis Carrolla la literatura, sobre todo a la de temática infantil, con títulos a sus espaldas como Alicia en el País de las Maravillas, Alicia a través del espejo, o La Caza del Snark. Pero además de literato, Lewis Carrol fue un hombre con bastantes inquietudes en torno a la matemática, la lógica y el pensamiento filosófico. Pero no todo el mundo es conocedor de su faceta como creativo en el campo de los juegos. Rendezvous es una de sus más sorprendentes invenciones,un juego de inteligencia para todos los públicos, cuyas directrices hacen de él un entretenimiento bastante original.

  1. Rendezvous, un juego de Lewis Carroll

    OpenAIRE

    José Manuel Sánchez Muñoz

    2011-01-01

    Todos en mayor o menor medida asociamos el nombre de Lewis Carrolla la literatura, sobre todo a la de temática infantil, con títulos a sus espaldas como Alicia en el País de las Maravillas, Alicia a través del espejo, o La Caza del Snark. Pero además de literato, Lewis Carrol fue un hombre con bastantes inquietudes en torno a la matemática, la lógica y el pensamiento filosófico. Pero no todo el mundo es conocedor de su faceta como creativo en el campo de los juegos. Rendezvous es una de sus más...

  2. Human Supervision of Multiple Autonomous Vehicles

    Science.gov (United States)

    2013-03-22

    Gantt charts, a vertical orientation might be useful as a scan from left to right could provide more efficient retrieval of the status of all vehicles...SERP) (pp. 513-519), Las Vegas, Nevada. 24Rothwell, C., Patzek, M., Bearden, G., & Ausdenmoore, B. (2013). Supervisory control state diagrams to

  3. SPHERES MOSR Rendezvous and Docking with the OS (RDOS) Project

    Data.gov (United States)

    National Aeronautics and Space Administration — In order to support the tools needed to develop the Mars Sample Return (MSR) rendezvous and capture of the Orbiting Sample (OS), Aurora and MIT Space Systems Lab...

  4. Optimal Rendezvous and Docking Simulator for Elliptical Orbits Project

    Data.gov (United States)

    National Aeronautics and Space Administration — It is proposed to develop and implement a simulation of spacecraft rendezvous and docking guidance, navigation, and control in elliptical orbit. The foundation of...

  5. Distributed consensus on minimum time rendezvous via cyclic alternating projection

    OpenAIRE

    Hu, Chunhe; Chen, Zongji

    2014-01-01

    In this paper, we propose a distributed algorithm to solve planar minimum time multi-vehicle rendezvous problem with non-identical velocity constraints on cyclic digraph (topology). Motivated by the cyclic alternating projection method that can compute a point's projection on the intersection of some convex sets, we transform the minimum time rendezvous problem into finding the distance between the position plane and the intersection of several second-order cones in position-time space. The d...

  6. Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking

    Science.gov (United States)

    Ma, Ou; Flores-Abad, Angel; Boge, Toralf

    2012-12-01

    One of the most challenging and risky operations for spacecraft is to perform rendezvous and docking autonomously in space. To ensure a safe and reliable operation, such a mission must be carefully designed and thoroughly verified before a real space mission can be launched. This paper describes the control strategy for achieving high fidelity contact dynamics simulation of a new, robotics-based, hardware-in-the-loop (HIL) rendezvous and docking simulation facility that uses two industrial robots to physically simulate the 6-DOF dynamic maneuvering of two docking satellites. The facility is capable of physically simulating the final approaching within a 25-meter range and the entire docking/capturing process for a satellite on-orbit servicing mission. The key difficulties of using industrial robots for high-fidelity HIL contact dynamics simulation were found and different solution techniques were investigated in the presented project. An admittance control method was proposed to achieve the goal of making the robots in the HIL simulation process match the impedance of the two docking satellites. Simulation study showed the effectiveness and performance of the proposed solution method.

  7. Rendezvous missions to temporarily captured near Earth asteroids

    Science.gov (United States)

    Brelsford, S.; Chyba, M.; Haberkorn, T.; Patterson, G.

    2016-04-01

    Missions to rendezvous with or capture an asteroid present significant interest both from a geophysical and safety point of view. They are key to the understanding of our solar system and are stepping stones for interplanetary human flight. In this paper, we focus on a rendezvous mission with 2006 RH120, an asteroid classified as a Temporarily Captured Orbiter (TCO). TCOs form a new population of near Earth objects presenting many advantages toward that goal. Prior to the mission, we consider the spacecraft hibernating on a Halo orbit around the Earth-Moon's L2 libration point. The objective is to design a transfer for the spacecraft from the parking orbit to rendezvous with 2006 RH120 while minimizing the fuel consumption. Our transfers use indirect methods, based on the Pontryagin Maximum Principle, combined with continuation techniques and a direct method to address the sensitivity of the initialization. We demonstrate that a rendezvous mission with 2006 RH120 can be accomplished with low delta-v. This exploratory work can be seen as a first step to identify good candidates for a rendezvous on a given TCO trajectory.

  8. SEPS comet rendezvous performance assessment. [Solar Electric Propulsion System

    Science.gov (United States)

    Sauer, C. G., Jr.

    1980-01-01

    This paper presents an assessment of delivered payload capability for a number of selected rendezvous missions to periodic comets with launch opportunities through the years 1986-1996. These missions are chosen using a selection criteria that considers both expected scientific interest and earth-based sighting considerations. Some 22 mission opportunities are found that satisfies the selection criteria. Spacecraft performance is presented for each mission opportunity based on use of a space shuttle, a twin stage inertial-upper-stage, and a conceptual solar-electric-propulsion-system with a nominal rendezvous 50 days before comet perihelion. Additional trajectory and propulsion enhancements are investigated for several comet rendezvous missions in order to improve spacecraft performance. An indirect transfer trajectory for an Encke mission is shown to offer substantial delivered payload. In addition the use of concentrator solar arrays is considered for several of the more interesting comet missions.

  9. Endoskopisk ultralydvejledt rendezvous til intern drænage ved galdevejsobstruktion

    DEFF Research Database (Denmark)

    Knudsen, Marie Høxbro; Vilmann, Peter; Hassan, Hazem

    2015-01-01

    Endoscopic ultrasound guided rendezvous for biliary drainage Endoscopic retrograde cholangiography (ERCP) is currently standard treatment for biliary drainage. Endoscopic ultrasound guided rendezvous (EUS-RV) is a novel method to overcome an unsuccessful biliary drainage procedure. Under endoscop...

  10. [Autonomic neuropathies].

    Science.gov (United States)

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

    2013-07-01

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

  11. Ivar asteroid rendezvous mission system scenario and trajectory design

    Institute of Scientific and Technical Information of China (English)

    崔平远; 李立涛; 崔祜涛; 栾恩杰; 吴伟仁; 田玉龙

    2003-01-01

    The asteroid exploration opportunities are searched and calculated with launch dates in 2006 to2010, and with asteroid Ivar 1627 as the target, the spacecraft and its subsystems are designed and analyzed,and the transfer trajectory is designed using △VEGA technology for the asteroid rendezvous. The design resultssatisfied the energy requirements for small explorers.

  12. Vision Based Navigation Sensors for Spacecraft Rendezvous and Docking

    DEFF Research Database (Denmark)

    Benn, Mathias

    is a technological demonstration mission, where all aspects of space rendezvous and docking to both a cooperative and a non-cooperative target is researched, with the use of novel methods, instruments and technologies. Amongst other equipment, DTU has delivered a vision based sensor package to the Main spacecraft...

  13. 美国航天器交会技术研究%Study on Rendezvous Techniques of American Spacecraft

    Institute of Scientific and Technical Information of China (English)

    朱仁璋; 王鸿芳; 徐宇杰; 魏羽良

    2011-01-01

    The US rendezvous and docking techniques development can be divided into three stages: Gemini and Apollo spacecraft,Space Shuttle,and post-Shuttle projects.Progression of autonomous rendezvous technology is firstly based on developing various guidance and navigation sensors,in particular,laser sensors used during the final approach phase.Redundance in the Guidance,Navigation and Control system and fault detection and isolation method play an important role in trajectory safety.The projects being studied in this paper include Gemini,Apollo,Shuttle,post-Shuttle planned ones(Orion,Dragon,Cygnus,BlackSky,and on-orbit satellite servicing),and flight demonstrations(XSS-11,DART and Orbital Express),with focus on rendezvous trajectories and rendezvous sensors as well as rendezvous operation sequencing.%美国交会对接技术的发展可分为三个阶段:"双子座"与"阿波罗"飞船,航天飞机,以及后航天飞机时代的项目。自主交会技术的发展,首先基于多种制导和导航敏感器的研发,特别是用于最终逼近段的激光敏感器。制导、导航与控制系统的冗余,以及故障检测与隔离的方法,在轨迹安全性中起重要作用。文章研究美国自主交会方案,包括"双子座","阿波罗",航天飞机,后航天飞机时代计划的项目("猎户座","飞龙","天鹅座","黑天空"飞行器,在轨卫星服务使命),以及飞行验证项目(实验卫星系统-11,"自主交会技术验证飞行器","轨道快车"),研究重点为交会轨迹与交会敏感器以及交会运作程序。

  14. Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

    Science.gov (United States)

    Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

    2008-01-01

    The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL

  15. Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

    Science.gov (United States)

    Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

    2008-01-01

    The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL

  16. Supervision as Metaphor

    Science.gov (United States)

    Lee, Alison; Green, Bill

    2009-01-01

    This article takes up the question of the language within which discussion of research degree supervision is couched and framed, and the consequences of such framings for supervision as a field of pedagogical practice. It examines the proliferation and intensity of metaphor, allegory and allusion in the language of candidature and supervision,…

  17. A Supervision of Solidarity

    Science.gov (United States)

    Reynolds, Vikki

    2010-01-01

    This article illustrates an approach to therapeutic supervision informed by a philosophy of solidarity and social justice activism. Called a "Supervision of Solidarity", this approach addresses the particular challenges in the supervision of therapists who work alongside clients who are subjected to social injustice and extreme marginalization. It…

  18. Web Interfacing for Task Supervision and Specification

    OpenAIRE

    Tomatis, N.; Moreau, B.

    2001-01-01

    The Autonomous Systems Lab at the Swiss Federal Institute of Technology Lausanne (EPFL) is engaged in mobile robotics research. The lab’s research focuses mainly on indoor localization and map building, outdoor locomotion and navigation, and micro mobile robotics. In the framework of a research project on mobile robot localization, a graphical web interface for our indoor robots has been developed. The purpose of this interface is twofold: it serves as a tool for task supervision for the rese...

  19. Good supervision and PBL

    DEFF Research Database (Denmark)

    Otrel-Cass, Kathrin

    This field study was conducted at the Faculty of Social Sciences at Aalborg University with the intention to investigate how students reflect on their experiences with supervision in a PBL environment. The overall aim of this study was to inform about the continued work in strengthening supervision...... at this faculty. This particular study invited Master level students to discuss: • How a typical supervision process proceeds • How they experienced and what they expected of PBL in the supervision process • What makes a good supervision process...

  20. Reliable Self-Stabilizing Communication for Quasi Rendezvous

    CERN Document Server

    Johnen, Colette; Lavault, Christian

    2010-01-01

    The paper presents three self-stabilizing protocols for basic fair and reliable link communication primitives. We assume a link-register communication model under read/write atomicity, where every process can read from but cannot write into its neighbours' registers. The first primitive guarantees that any process writes a new value in its register(s) only after all its neighbours have read the previous value, whatever the initial scheduling of processes' actions. The second primitive implements a "weak rendezvous" communication mechanism by using an alternating bit protocol: whenever a process consecutively writes n values (possibly the same ones) in a register, each neighbour is guaranteed to read each value from the register at least once. On the basis of the previous protocol, the third primitive implements a "quasi rendezvous": in words, this primitive ensures furthermore that there exists exactly one reading between two writing operations All protocols are self-stabilizing and run in asynchronous arbitr...

  1. Ground guided CX-OLEV rendez-vous with uncooperative geostationary satellite

    Science.gov (United States)

    Tarabini, Lorenzo; Gil, Jesús; Gandia, Fernando; Molina, Miguel Ángel; Del Cura, Juan Manuel; Ortega, Guillermo

    2007-06-01

    CX-OLEV is a commercial mission aimed to extend the operational life of geostationary telecommunications satellites by supplying them propulsion, navigation and guidance services. Under SENER's contract and ESA's supervision, GMV designed the CX-OLEV ground guided rendez-vous (RV) approach. The starting point of the RV phase between CX-OLEV and the client is at 35 km distance with an uncertainty of 2 km. Dedicated ground tracking is performed to reduce the position uncertainty to 200 m and therefore to command the closing to 1 km distance. Fly around and final approach maneuvers complete the CX-OLEV RV approach along the client's zenith direction up to a relative distance of 7 m. Two redundant optical cameras working in the 5 m-2 km range are selected as RV sensors. The RV camera images are sent to ground and processed to determine the relative position of the spacecraft. The flight dynamics system calculates, validates and transmits in near real time the RV maneuvers commands. The relative spiral motion of CX-OLEV around the telecommunication satellite is synchronized with the Sun-client-CXOLEV angle to guarantee a good illumination of the client but without shadowing the client satellite's solar panels. The complete RV is simulated in a dedicated environment to assess its feasibility.

  2. Autonomic neuropathies

    Science.gov (United States)

    Low, P. A.

    1998-01-01

    A limited autonomic neuropathy may underlie some unusual clinical syndromes, including the postural tachycardia syndrome, pseudo-obstruction syndrome, heat intolerance, and perhaps chronic fatigue syndrome. Antibodies to autonomic structures are common in diabetes, but their specificity is unknown. The presence of autonomic failure worsens prognosis in the diabetic state. Some autonomic neuropathies are treatable. Familial amyloid polyneuropathy may respond to liver transplantation. There are anecdotal reports of acute panautonomic neuropathy responding to intravenous gamma globulin. Orthostatic hypotension may respond to erythropoietin or midodrine.

  3. Finding rendezvous: An approach to locating Rocky Mountain Rendezvous sites through use of historic documents, geophysical survey, and LiDAR

    Science.gov (United States)

    Becker, Rory J.

    The general locations of the Rocky Mountain Rendezvous have been known to historians through documentary evidence since the mid to late 1800s. While the approximate locations of the rendezvous sites provided through historic documents have sufficed for the placement of signs and markers commemorating these annual events, archaeologists seeking to learn more about the yearly gathering of mountain men and native peoples through excavations need a more precise area to begin their search on the landscape. The exact locations of the Rocky Mountain Rendezvous are yet unknown in the sense of an archaeologist visiting a rendezvous site, trowel in hand, and hoping to unearth a small portion of fur trade history. In this study, I present a method for moving from the approximate locations for the Rocky Mountain Rendezvous sites provided by historic documents to identifying specific rendezvous archaeological sites through use of historic documents, geophysical survey, and GIS modeling. The first paper in this dissertation examines the demographics of the rendezvous. By use of historic documents, I present a method for estimating the number of people who may have been present at the rendezvous and winter camps from 1825 through 1829. By using this method for estimating people at the rendezvous, it becomes clear more native people were in attendance at the rendezvous and winter camps than trappers and traders of European descent. Once armed with the knowledge a rendezvous site should more closely resemble the archaeological signature of a Protohistoric native camp than a historic Euroamerican archaeological site, the search for a Protohistoric native camp to be mapped with geophysical survey instruments can begin. During this study, such a search resulted in the successful mapping of a portion of the camp surrounding a fur trading post on the banks of Powder River in east-central Wyoming. The final section in the dissertation will address the issue of where and how to focus a

  4. Modified rendezvous intrahepatic bile duct cannulation technique to pass a PTBD catheter in ERCP

    Institute of Scientific and Technical Information of China (English)

    Tae; Hoon; Lee; Sang-Heum; Park; Sae; Hwan; Lee; Chang-Kyun; Lee; Suck-Ho; Lee; Il-Kwun; Chung; Hong; Soo; Kim; Sun-Joo; Kim

    2010-01-01

    The rendezvous procedure combines an endoscopic technique with percutaneous transhepatic biliary drainage(PTBD).When a selective common bile duct cannulation fails,PTBD allows successful drainage and retrograde access for subsequent rendezvous techniques.Traditionally,rendezvous procedures such as the PTBDassisted over-the-wire cannulation method,or the parallel cannulation technique,may be available when a bile duct cannot be selectively cannulated.When selective intrahepatic bile duct(IHD) cannulation fai...

  5. Spacecraft Actuator Diagnosis with Principal Component Analysis: Application to the Rendez-Vous Phase of the Mars Sample Return Mission

    Directory of Open Access Journals (Sweden)

    Othman Nasri

    2015-01-01

    Full Text Available This paper presents a fault detection and isolation (FDI approach in order to detect and isolate actuators (thrusters and reaction wheels faults of an autonomous spacecraft involved in the rendez-vous phase of the Mars Sample Return (MSR mission. The principal component analysis (PCA has been adopted to estimate the relationships between the various variables of the process. To ensure the feasibility of the proposed FDI approach, a set of data provided by the industrial “high-fidelity” simulator of the MSR and representing the opening (resp., the rotation rates of the spacecraft thrusters (resp., reaction wheels has been considered. The test results demonstrate that the fault detection and isolation are successfully accomplished.

  6. Use of In-Flight Data to Validate Mars Samle Return Autonomous RvD GNC

    DEFF Research Database (Denmark)

    Barrena, V.; Colmenarejo, P.; Suatoni, M.

    During the last years, the number of studies having as objective rendezvous and docking/capture missions around Mars or other planets/asteroids has significantly increased. Following this tendency, a team led by GMV has developed HARvD (High Integrity Autonomous Rendezvous Docking Control System...... that in this approach the on-board SW does not require modification. Such modifications are costly and complex. Therefore the results of the HARvD system validation can be maximized with respect to the involved effort. This paper presents the experiment definition and development of the HARvD-PRISMA experiment...

  7. Autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1983-01-01

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

  8. Autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1980-01-01

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

  9. Fuzzy logic techniques for rendezvous and docking of two geostationary satellites

    Science.gov (United States)

    Ortega, Guillermo

    1995-01-01

    Large assemblings in space require the ability to manage rendezvous and docking operations. In future these techniques will be required for the gradual build up of big telecommunication platforms in the geostationary orbit. The paper discusses the use of fuzzy logic to model and implement a control system for the docking/berthing of two satellites in geostationary orbit. The system mounted in a chaser vehicle determines the actual state of both satellites and generates torques to execute maneuvers to establish the structural latching. The paper describes the proximity operations to collocate the two satellites in the same orbital window, the fuzzy guidance and navigation of the chaser approaching the target and the final Fuzzy berthing. The fuzzy logic system represents a knowledge based controller that realizes the close loop operations autonomously replacing the conventional control algorithms. The goal is to produce smooth control actions in the proximity of the target and during the docking to avoid disturbance torques in the final assembly orbit. The knowledge of the fuzzy controller consists of a data base of rules and the definitions of the fuzzy sets. The knowledge of an experienced spacecraft controller is captured into a set of rules forming the Rules Data Base.

  10. Networks of Professional Supervision

    Science.gov (United States)

    Annan, Jean; Ryba, Ken

    2013-01-01

    An ecological analysis of the supervisory activity of 31 New Zealand school psychologists examined simultaneously the theories of school psychology, supervision practices, and the contextual qualities that mediated participants' supervisory actions. The findings indicated that the school psychologists worked to achieve the supervision goals of…

  11. Forskellighed i supervision

    DEFF Research Database (Denmark)

    Petersen, Birgitte; Beck, Emma

    2009-01-01

    Indtryk og tendenser fra den anden danske konference om supervision, som blev holdt på Københavns Universitet i oktober 2008......Indtryk og tendenser fra den anden danske konference om supervision, som blev holdt på Københavns Universitet i oktober 2008...

  12. Experiments in Virtual Supervision.

    Science.gov (United States)

    Walker, Rob

    This paper examines the use of First Class conferencing software to create a virtual culture among research students and as a vehicle for supervision and advising. Topics discussed include: computer-mediated communication and research; entry to cyberculture, i.e., research students' induction into the research community; supervision and the…

  13. Guidance and Navigation Software Architecture Design for the Autonomous Multi-Agent Physically Interacting Spacecraft (AMPHIS) Test Bed

    Science.gov (United States)

    2006-12-01

    class, the Jules Verne successfully completed the autonomous rendezvous and docking system in Europe’s largest ship hull test facility in September...replicate the 2007 Jules Verne mission. http://www.esa.int/SPECIALS/ATV/SEMWCEKKKSE_0.html. 23. Banke, K., Air Force XSS-10 Micro-Satellite Mission a

  14. Non-Scanning 3D Imager for Autonomous Rendezvous and Docking Project

    Data.gov (United States)

    National Aeronautics and Space Administration — One of the technology pushes in the Human Exploration and Operations (HEO) line-of-business (LOB) is to develop low-latency telerobotics / robotic servicing...

  15. Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

    Science.gov (United States)

    Trube, Matthew J.; Hyslop, Andrew M.; Carignan, Craig R.; Easley, Joseph W.

    2012-01-01

    A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.

  16. 3D model-based detection and tracking for space autonomous and uncooperative rendezvous

    Science.gov (United States)

    Shang, Yang; Zhang, Yueqiang; Liu, Haibo

    2015-10-01

    In order to fully navigate using a vision sensor, a 3D edge model based detection and tracking technique was developed. Firstly, we proposed a target detection strategy over a sequence of several images from the 3D model to initialize the tracking. The overall purpose of such approach is to robustly match each image with the model views of the target. Thus we designed a line segment detection and matching method based on the multi-scale space technology. Experiments on real images showed that our method is highly robust under various image changes. Secondly, we proposed a method based on 3D particle filter (PF) coupled with M-estimation to track and estimate the pose of the target efficiently. In the proposed approach, a similarity observation model was designed according to a new distance function of line segments. Then, based on the tracking results of PF, the pose was optimized using M-estimation. Experiments indicated that the proposed method can effectively track and accurately estimate the pose of freely moving target in unconstrained environment.

  17. The development of an autonomous rendezvous and docking simulation using rapid integration and prototyping technology

    Science.gov (United States)

    Shackelford, John H.; Saugen, John D.; Wurst, Michael J.; Adler, James

    1991-01-01

    A generic planar 3 degree of freedom simulation was developed that supports hardware in the loop simulations, guidance and control analysis, and can directly generate flight software. This simulation was developed in a small amount of time utilizing rapid prototyping techniques. The approach taken to develop this simulation tool, the benefits seen using this approach to development, and on-going efforts to improve and extend this capability are described. The simulation is composed of 3 major elements: (1) Docker dynamics model, (2) Dockee dynamics model, and (3) Docker Control System. The docker and dockee models are based on simple planar orbital dynamics equations using a spherical earth gravity model. The docker control system is based on a phase plane approach to error correction.

  18. COARSE: Convex Optimization based autonomous control for Asteroid Rendezvous and Sample Exploration Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Sample return missions, by nature, require high levels of spacecraft autonomy. Developments in hardware avionics have led to more capable real-time onboard computing...

  19. Advanced Guidance, Navigation and Control Design for Autonomous Rendezvous and Docking Project

    Data.gov (United States)

    National Aeronautics and Space Administration — SSCI, in collaboration with University of Texas, Austin (UTA), proposes to develop, integrate, implement and test a novel framework for the design and performance...

  20. Autonomic dysreflexia

    Science.gov (United States)

    ... most common cause of autonomic dysreflexia (AD) is spinal cord injury. The nervous system of people with AD over-responds to the types of stimulation that do not bother healthy people. Other causes ...

  1. 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.

  2. PREDICTION BASED CHANNEL-HOPPING ALGORITHM FOR RENDEZVOUS IN COGNITIVE RADIO NETWORKS

    Directory of Open Access Journals (Sweden)

    Dhananjay Kumar

    2012-12-01

    Full Text Available Most common works for rendezvous in cognitive radio networks deal only with two user scenarios involving two secondary users and variable primary users and aim at reducing the time-to-rendezvous. A common control channel for the establishment of communication is not considered and hence the work comes under the category of ‘Blind Rendezvous’. Our work deal with multi-user scenario and provides a methodology for the users to find each other in the very first time slot spent for rendezvous or otherwise called the firstattempt- rendezvous. The secondary users make use of the history of past communications to enable them to predict the frequency channel that the user expects the rendezvous user to be. Our approach prevents greedy decision making between the users involved by the use of a cut-off time period for attempting rendezvous. Simulation results show that the time-to-rendezvous (TTR is greatly reduced upon comparison with other popular rendezvous algorithms.

  3. Supervision som undervisningsform i voksenspecialundervisningen

    DEFF Research Database (Denmark)

    Kristensen, René

    2000-01-01

    Supervision som undervisningsform i voksenspecialundervisningen. Procesarbejde i undervisning af voksne.......Supervision som undervisningsform i voksenspecialundervisningen. Procesarbejde i undervisning af voksne....

  4. Clinical Supervision in Denmark

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard

    Data fra den danske undersøgelse af psykoterapeuters faglige udvikling indsamlet ved hjælp af DPCCQ. Oplægget fokuserer på supervision (modtaget, givet, uddannelse i) blandt danske psykoterapeutiske arbejdende psykologer....

  5. Supervision af psykoterapi

    DEFF Research Database (Denmark)

    SUPERVISION AF PSYKOTERAPI indtager en central position i uddannelsen og udviklingen af psykoterapeuter. Trods flere lighedspunkter med psykoterapi, undervisning og konsultation er psykoterapisupervision et selvstændigt virksomhedsområde. Supervisor må foruden at være en trænet psykoterapeut kende...... supervisionens rammer og indplacering i forhold til organisation og samfund. En række kapitler drejer sig om supervisors opgaver, roller og kontrolfunktion, supervision set fra supervisandens perspektiv samt betragtninger over relationer og processer i supervision. Der drøftes fordele og ulemper ved de...... forskellige måder, hvorpå en sag kan fremlægges. Bogens første del afsluttes med refleksioner over de etiske aspekter ved psykoterapisupervision. Bogens anden del handler om de særlige forhold, der gør sig gældende ved supervision af en række specialiserede behandlingsformer eller af psykoterapi med bestemte...

  6. Psykoterapi og supervision

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard

    2014-01-01

    Kapitlet beskriver supervisionen funktioner i forhold til psykoterapi. Supervision af psykoterapi henviser i almindelighed til, at en psykoterapeut konsulterer en ofte mere erfaren kollega (supervisor) med henblik på drøftelse af et konkret igangværende psykoterapeutisk behandlingsforløb. Formålet...... er at fremme denne fagpersons (psykoterapeutens) faglige udvikling samt sikre kvaliteten af behandlingen.kan defineres som i. Der redegøres for, hvorfor supervision er vigtig del af psykoterapeutens profession samt vises, hvorledes supervision foruden den faglige udvikling også er vigtigt redskab i...... psykoterapiens kvalitetssikring. Efter at have drøftet nogle etiske forhold ved supervision, fremlægges endelig nogle få forskningsresultater vedr. psykoterapisupervision af danske psykologer....

  7. Supervision and group dynamics

    DEFF Research Database (Denmark)

    Hansen, Søren; Jensen, Lars Peter

    2004-01-01

    as well as at Aalborg University. The first visible result has been participating supervisors telling us that the course has inspired them to try supervising group dynamics in the future. This paper will explore some aspects of supervising group dynamics as well as, how to develop the Aalborg model...... An important aspect of the problem based and project organized study at Aalborg University is the supervision of the project groups. At the basic education (first year) it is stated in the curriculum that part of the supervisors' job is to deal with group dynamics. This is due to the experience...... that many students are having difficulties with practical issues such as collaboration, communication, and project management. Most supervisors either ignore this demand, because they do not find it important or they find it frustrating, because they do not know, how to supervise group dynamics...

  8. Two Approaches to Clinical Supervision.

    Science.gov (United States)

    Anderson, Eugene M.

    Criteria are established for a definition of "clinical supervision" and the effectiveness of such supervisory programs in a student teaching context are considered. Two differing genres of clinical supervision are constructed: "supervision by pattern analysis" is contrasted with "supervision by performance objectives." An outline of procedural…

  9. Counselor Supervision: A Consumer's Guide.

    Science.gov (United States)

    Yager, Geoffrey G.; Littrell, John M.

    This guide attempts to solve problems caused when a certain designated "brand" of supervision is forced on the counselor trainee with neither choice nor checklist of important criteria. As a tentative start on a guide to supervision the paper offers the following: a definition of supervision; a summary of the various types of supervision; a…

  10. Terminal spacecraft rendezvous and capture with LASSO model predictive control

    Science.gov (United States)

    Hartley, Edward N.; Gallieri, Marco; Maciejowski, Jan M.

    2013-11-01

    The recently investigated ℓasso model predictive control (MPC) is applied to the terminal phase of a spacecraft rendezvous and capture mission. The interaction between the cost function and the treatment of minimum impulse bit is also investigated. The propellant consumption with ℓasso MPC for the considered scenario is noticeably less than with a conventional quadratic cost and control actions are sparser in time. Propellant consumption and sparsity are competitive with those achieved using a zone-based ℓ1 cost function, whilst requiring fewer decision variables in the optimisation problem than the latter. The ℓasso MPC is demonstrated to meet tighter specifications on control precision and also avoids the risk of undesirable behaviours often associated with pure ℓ1 stage costs.

  11. Some impulsive rendezvous trajectories and their possible optimality.

    Science.gov (United States)

    Peltier, J. P.

    1972-01-01

    Two- and three-impulse trajectories are investigated for fixed-time, fixed-angle rendezvous between vacant circular coplanar orbits, for trip angles less than, or equal to 2 pi in magnitude. For two-impulse trajectories, general features of the characteristic velocity function are outlined. Parameters of the intermediate orbit are reviewed. Attention is given to limiting cases. Computation of the adjoint system helps to define the domain of possible optimality foajectories: it is a closed domain in the trip time, trip angle plane. Waiting periods on terminal orbits are considered. The domain of possible optimality is defined using Lawden's primer vrtory. This domain extends to infinity if the radius ratio of terminal orbits is less than 15.6. Three-impulse trajectories are tried in cases where two-impulse trajectories, with or without cost, have been found nonoptimal. Improvements on the characteristic velocity are thus obtained.

  12. Rendezvous Integration Complexities of NASA Human Flight Vehicles

    Science.gov (United States)

    Brazzel, Jack P.; Goodman, John L.

    2009-01-01

    Propellant-optimal trajectories, relative sensors and navigation, and docking/capture mechanisms are rendezvous disciplines that receive much attention in the technical literature. However, other areas must be considered. These include absolute navigation, maneuver targeting, attitude control, power generation, software development and verification, redundancy management, thermal control, avionics integration, robotics, communications, lighting, human factors, crew timeline, procedure development, orbital debris risk mitigation, structures, plume impingement, logistics, and in some cases extravehicular activity. While current and future spaceflight programs will introduce new technologies and operations concepts, the complexity of integrating multiple systems on multiple spacecraft will remain. The systems integration task may become more difficult as increasingly complex software is used to meet current and future automation, autonomy, and robotic operation requirements.

  13. Short profile for the human spacecraft Soyuz-TMA rendezvous mission to the ISS☆

    Science.gov (United States)

    Murtazin, Rafail; Petrov, Nikolay

    2012-08-01

    Reduction of flight duration after insertion till docking to the ISS is considered. In the beginning of the human flight era both the USSR and the USA used short mission profiles due to limited life support resources. A rendezvous during these missions was usually achieved in 1-5 revolutions. The short-term rendezvous were made possible by the coordinated launch profiles of both rendezvousing spacecraft, which provided specific relative position of the spacecraft or phase angle conditions. After the beginning of regular flights to the orbital stations these requirements became difficult to fulfill. That is why it was decided to transfer to 1- or 2-day rendezvous profile. The long stay of a crew in a limited habitation volume of the Soyuz-TMA spacecraft before docking to the ISS is one of the most strained parts of the flight and naturally cosmonauts wish to dock to the ISS as soon as possible. As a result of previous studies the short four-burn rendezvous mission profile with docking in a few orbits was developed. It is shown that the current capabilities of the Soyuz-FG launch vehicle and the Soyuz-TMA spacecraft are sufficient to provide for that. The first test of the short rendezvous mission during Progress cargo vehicle flight to the ISS is planned for 2012. Possible contingencies pertinent to this profile are described. In particular, in the majority of the emergency cases there is a possibility of an urgent transfer to the present 2-day rendezvous profile. Thus, the short mission will be very flexible and will not influence the ISS mission plan. Fuel consumption for the nominal and emergency cases is defined by statistical simulation of the rendezvous mission. The qualitative analysis of the short-term and current 2-day rendezvous missions is performed.

  14. A Two-Impulse Plan for Performing Rendezvous on a Once-A-Day Basis

    Science.gov (United States)

    Bird, John D.; Thomas, David F., Jr.

    1960-01-01

    An investigation of a two-impulse plan for performing rendezvous on a once-a-day basis with a near-earth satellite station indicates that launch into rendezvous from slightly less than maximum satellite latitude is an unusually favorable circumstance in that no appreciable expense in mass ratio is incurred. In addition, it was found for the two-impulse maneuver employed in this study that the optimum angular travel of the ferry vehicle to rendezvous was considerably less than the 1800 transfer which is optimum for the two-impulse in-plane launch.

  15. Resistance to group clinical supervision

    DEFF Research Database (Denmark)

    Buus, Niels; Delgado, Cynthia; Traynor, Michael

    2017-01-01

    This present study is a report of an interview study exploring personal views on participating in group clinical supervision among mental health nursing staff members who do not participate in supervision. There is a paucity of empirical research on resistance to supervision, which has traditiona......This present study is a report of an interview study exploring personal views on participating in group clinical supervision among mental health nursing staff members who do not participate in supervision. There is a paucity of empirical research on resistance to supervision, which has...... traditionally been theorized as a supervisee's maladaptive coping with anxiety in the supervision process. The aim of the present study was to examine resistance to group clinical supervision by interviewing nurses who did not participate in supervision. In 2015, we conducted semistructured interviews with 24...

  16. The role of smart systems in rendezvous, close proximity operations and docking maneuvers

    Science.gov (United States)

    Szatkowski, Gerard P.

    1991-01-01

    Various missions scenarios (Space Station logistics, LEO and GEO services, and SEI operation) will involve flexibility in mission management. This means operations will be one or a combination of the following: autonomous, supervised autonomous, and machine aided manual control. Smart Systems will likely play a significant role in making these missions successful from a safety/reliability perspective and less costly from an operations perspective. This does not imply that Smart Systems need to be super sophisticated. On the contrary, Smart Systems have been described as automated intelligence that if a person had done it wrong, it would be considered stupid. The first part of this paper will describe the types of Smart System techniques involved in AR and CC, their specifications, duties, and interactions. Next will be a discussion of the work performed under the auspice of the ALS Program to further Expert Systems applications imbedded in the control process, NASA/JSC CRAD, and other related IRAD projects. This will include issues pertaining to the following: integration, speed, knowledge encapsulation, and cooperative systems. Finally, a brief description will be offered to outline the major obstacles for the acceptance of Smart Systems in critical applications.

  17. Preliminary GN&C Design for the On-Orbit Autonomous Assembly of Nanosatellite Demonstration Mission

    Science.gov (United States)

    Pei, Jing; Walsh, Matt; Roithmayr, Carlos; Karlgaard, Chris; Peck, Mason; Murchison, Luke

    2017-01-01

    Small spacecraft autonomous rendezvous and docking (ARD) is an essential technology for future space structure assembly missions. The On-orbit Autonomous Assembly of Nanosatellites (OAAN) team at NASA Langley Research Center (LaRC) intends to demonstrate the technology to autonomously dock two nanosatellites to form an integrated system. The team has developed a novel magnetic capture and latching mechanism that allows for docking of two CubeSats without precise sensors and actuators. The proposed magnetic docking hardware not only provides the means to latch the CubeSats, but it also significantly increases the likelihood of successful docking in the presence of relative attitude and position errors. The simplicity of the design allows it to be implemented on many CubeSat rendezvous missions. Prior to demonstrating the docking subsystem capabilities on orbit, the GN&C subsystem should have a robust design such that it is capable of bringing the CubeSats from an arbitrary initial separation distance of as many as a few thousand kilometers down to a few meters. The main OAAN Mission can be separated into the following phases: 1) Launch, checkout, and drift, 2) Far-Field Rendezvous or Drift Recovery, 3) Proximity Operations, 4) Docking. This paper discusses the preliminary GN&C design and simulation results for each phase of the mission.

  18. Evolutionary strategy for achieving autonomous navigation

    Science.gov (United States)

    Gage, Douglas W.

    1999-01-01

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

  19. Towards Autonomous Control of HVAC Systems

    DEFF Research Database (Denmark)

    Brath, P.

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

  20. Collective academic supervision

    DEFF Research Database (Denmark)

    Nordentoft, Helle Merete; Thomsen, Rie; Wichmann-Hansen, Gitte

    2013-01-01

    are interconnected. Collective Academic Supervision provides possibilities for systematic interaction between individual master students in their writing process. In this process they learn core academic competencies, such as the ability to assess theoretical and practical problems in their practice and present them...

  1. Reflecting reflection in supervision

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    Reflection has moved from the margins to the mainstream in supervision. Notions of reflection have become well established since the late 1980s. These notions have provided useful framing devices to help conceptualize some important processes in guidance and counseling. However, some applications...

  2. Clinical Supervision in Denmark

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard

    2011-01-01

    on giving and receiving clinical supervision as reported by therapists in Denmark. Method: Currently, the Danish sample consists of 350 clinical psychologist doing psychotherapy who completed DPCCQ. Data are currently being prepared for statistical analysis. Results: This paper will focus primarily...

  3. Kontraktetablering i supervision

    DEFF Research Database (Denmark)

    Mortensen, Karen Vibeke; Jacobsen, Claus Haugaard

    2007-01-01

    Kapitlet behandler kontraktetablering i supervision, et element, der ofte er blevet negligeret eller endog helt forbigået ved indledningen af supervisionsforløb. Sikre aftaler om emner som tid, sted, procedurer for fremlæggelse, fortrolighed, ansvarsfordeling og evaluering skaber imidlertid tryghed...

  4. Etiske betragtninger ved supervision

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard; Agerskov, Kirsten

    2007-01-01

    Kapitlet præsenterer nogle etiske betragtninger ved supervision. Mens der længe har eksisteret etiske retningslinjer for psykoterapeutisk arbejde, har der overraskende nok manglet tilsvarende vejledninger på supervisionsområdet. Det betyder imidlertid ikke, at de ikke er relevante. I kapitlet gøres...

  5. NEP for a Kuiper Belt Object Rendezvous Mission

    Energy Technology Data Exchange (ETDEWEB)

    HOUTS,MICHAEL G.; LENARD,ROGER X.; LIPINSKI,RONALD J.; PATTON,BRUCE; POSTON,DAVID I.; WRIGHT,STEVEN A.

    1999-11-03

    Kuiper Belt Objects (KBOs) are a recently-discovered set of solar system bodies which lie at about the orbit of Pluto (40 AU) out to about 100 astronomical units (AU). There are estimated to be about 100,000 KBOS with a diameter greater than 100 km. KBOS are postulated to be composed of the pristine material which formed our solar system and may even have organic materials in them. A detailed study of KBO size, orbit distribution, structure, and surface composition could shed light on the origins of the solar system and perhaps even on the origin of life in our solar system. A rendezvous mission including a lander would be needed to perform chemical analysis of the surface and sub-surface composition of KBOS. These requirements set the size of the science probe at around a ton. Mission analyses show that a fission-powered system with an electric thruster could rendezvous at 40 AU in about 13.0 years with a total {Delta}V of 46 krnk. It would deliver a 1000-kg science payload while providing ample onboard power for relaying data back to earth. The launch mass of the entire system (power, thrusters, propellant, navigation, communication, structure, science payload, etc.) would be 7984 kg if it were placed into an earth-escape trajectory (C=O). Alternatively, the system could be placed into a 700-km earth orbit with more propellant,yielding a total mass in LEO of 8618 kg, and then spiral out of earth orbit to arrive at the KBO in 14.3 years. To achieve this performance, a fission power system with 100 kW of electrical power and a total mass (reactor, shield, conversion, and radiator) of about 2350 kg. Three possible configurations are proposed: (1) a UZrH-fueled, NaK-cooled reactor with a steam Rankine conversion system, (2) a UN-fueled gas-cooled reactor with a recuperated Brayton conversion system, and (3) a UN-fueled heatpipe-cooled reactor with a recuperated Brayton conversion system. (Boiling and condensation in the Rankine system is a technical risk at present

  6. Hubble Servicing Challenges Drive Innovation of Shuttle Rendezvous Techniques

    Science.gov (United States)

    Goodman, John L.; Walker, Stephen R.

    2009-01-01

    Hubble Space Telescope (HST) servicing, performed by Space Shuttle crews, has contributed to what is arguably one of the most successful astronomy missions ever flown. Both nominal and contingency proximity operations techniques were developed to enable successful servicing, while lowering the risk of damage to HST systems, and improve crew safety. Influencing the development of these techniques were the challenges presented by plume impingement and HST performance anomalies. The design of both the HST and the Space Shuttle was completed before the potential of HST contamination and structural damage by shuttle RCS jet plume impingement was fully understood. Relative navigation during proximity operations has been challenging, as HST was not equipped with relative navigation aids. Since HST reached orbit in 1990, proximity operations design for servicing missions has evolved as insight into plume contamination and dynamic pressure has improved and new relative navigation tools have become available. Servicing missions have provided NASA with opportunities to gain insight into servicing mission design and development of nominal and contingency procedures. The HST servicing experiences and lessons learned are applicable to other programs that perform on-orbit servicing and rendezvous, both human and robotic.

  7. Pollinators' mating rendezvous and the evolution of floral advertisement.

    Science.gov (United States)

    Fishman, Michael A; Hadany, Lilach

    2013-01-07

    Successful cross-fertilization in plant species that rely on animal pollinators depends not just on the number of pollinator visits, but also on these visits' duration. Furthermore, in non-deceptive pollination, a visit's duration depends on the magnitude of the reward provided to the pollinator. Accordingly, plants that rely on biotic pollination have to partition their investment in cross-fertilization assurance between attracting pollinator visits - advertisement, and rewarding visitors to assure that the visit is of productive duration. Here we analyze these processes by a combination of optimality methods and game theoretical modeling. Our results indicate that the optimality in such allocation of resources depends on the types of reward offered to the pollinators. More precisely, we show that plants that offer both food reward and mating rendezvous to pollinators will evolve to allocate a higher proportion of their cross-fertilization assurance budget to advertisement than plants that offer only food reward. That is, our results indicate that pollinators' mating habits may play a role in floral evolution.

  8. Asteroid Rendezvous Mission Design Using Multiobjective Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Ya-zhong Luo

    2014-01-01

    Full Text Available A new preliminary trajectory design method for asteroid rendezvous mission using multiobjective optimization techniques is proposed. This method can overcome the disadvantages of the widely employed Pork-Chop method. The multiobjective integrated launch window and multi-impulse transfer trajectory design model is formulated, which employes minimum-fuel cost and minimum-time transfer as two objective functions. The multiobjective particle swarm optimization (MOPSO is employed to locate the Pareto solution. The optimization results of two different asteroid mission designs show that the proposed approach can effectively and efficiently demonstrate the relations among the mission characteristic parameters such as launch time, transfer time, propellant cost, and number of maneuvers, which will provide very useful reference for practical asteroid mission design. Compared with the PCP method, the proposed approach is demonstrated to be able to provide much more easily used results, obtain better propellant-optimal solutions, and have much better efficiency. The MOPSO shows a very competitive performance with respect to the NSGA-II and the SPEA-II; besides a proposed boundary constraint optimization strategy is testified to be able to improve its performance.

  9. Multi-sensor Testing for Automated Rendezvous and Docking

    Science.gov (United States)

    Howard, Richard T.; Carrington, Connie K.

    2008-01-01

    During the past two years, many sensors have been tested in an open-loop fashion in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL) to both determine their suitability for use in Automated Rendezvous and Docking (AR&D) systems and to ensure the test facility is prepared for future multi-sensor testing. The primary focus of this work was in support of the CEV AR&D system, because the AR&D sensor technology area was identified as one of the top risks in the program. In 2006, four different sensors were tested individually or in a pair in the MSFC FRL. In 2007, four sensors, two each of two different types, were tested simultaneously. In each set of tests, the target was moved through a series of pre-planned trajectories while the sensor tracked it. In addition, a laser tracker "truth" sensor also measured the target motion. The tests demonstrated the functionality of testing four sensors simultaneously as well as the capabilities (both good and bad) of all of the different sensors tested. This paper outlines the test setup and conditions, briefly describes the facility, summarizes the earlier results of the individual sensor tests, and describes in some detail the results of the four-sensor testing. Post-test analysis includes data fusion by minimum variance estimation and sequential Kalman filtering. This Sensor Technology Project work was funded by NASA's Exploration Technology Development Program.

  10. Autonomous Supervision and Control of Parametric Roll Resonance

    DEFF Research Database (Denmark)

    Galeazzi, Roberto

    on a driving signal that carries information about the phase correlation between either pitch or heave and roll. A generalised likelihood ratio test is designed to detect a change in distribution of the driving signal. The detectors are validated against experimental data of tests of a 1:45 scale model...

  11. Autonomous Airship

    Directory of Open Access Journals (Sweden)

    Martin POSPÍŠILÍK

    2009-06-01

    Full Text Available This paper describes a project of attaching the autonomous monitoring system to a small helium airship. The airship is capable of independent operating inside a closed hall, being driven by means of ultrasonic detectors. It is accommodated to carry different monitoring units providing students with the opportunity to process various experiments and measurements. In the first experiment, the airship will carry WiFi router, camera and IP Relay by means of which the pertinent control of the airship through external web interface is enabled, independently on the ultrasonic detecting system.

  12. Autonomous Search

    CERN Document Server

    Hamadi, Youssef; Saubion, Frédéric

    2012-01-01

    Decades of innovations in combinatorial problem solving have produced better and more complex algorithms. These new methods are better since they can solve larger problems and address new application domains. They are also more complex which means that they are hard to reproduce and often harder to fine-tune to the peculiarities of a given problem. This last point has created a paradox where efficient tools are out of reach of practitioners. Autonomous search (AS) represents a new research field defined to precisely address the above challenge. Its major strength and originality consist in the

  13. Social networks in supervision

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    and practice have focused on conceptual frameworks and practical techniques of promoting reflection through conversation in general and questioning in particular. However, in recent years, supervision research has started to focus on the social and technological aspects of supervision. This calls...... is constituted by the relationality of the actors, not by the actors themselves. In other words, no one acts in a vacuum but rather always under the influence of a wide range of surrounding and interconnected factors. Actors are actors because they are in a networked relationship. Thus, focusing on social...... and space. That involves mobilised an denrolled actos, both animate and inanimate (e.g. books, computers, etc. Actor-network theory defines a symmetry between animate and inanimate, i.e. subjects and objects, because ”human powers increasingly derive from the complex interconnections if human with material...

  14. Impact of the Intracoronary Rendezvous technique on coronary angioplasty for chronic total occlusion.

    Science.gov (United States)

    Nihei, Taro; Yamamoto, Yoshito; Kudo, Shun; Hanawa, Kenichiro; Hasebe, Yuhi; Takagi, Yusuke; Minatoya, Yutaka; Sugi, Masafumi; Shimokawa, Hiroaki

    2016-08-30

    The Rendezvous technique, which requires bidirectional wiring, is one of the useful methods for improving the success rate of recanalization for chronic total occlusion (CTO) in the field of peripheral intervention. Recently, advanced new devices for percutaneous coronary intervention have enabled us to perform the Rendezvous technique for peripheral as well as for coronary CTO lesions. We used the Intracoronary Rendezvous technique to perform angioplasty for coronary CTO. "Intracoronary Rendezvous" means that Rendezvous was achieved within the CTO lesion. From March 2009 to November 2015, 189 patients underwent CTO angioplasty at our institute, and we treated 10 patients with the Intracoronary Rendezvous technique. This technique involves crossing the Gaia series guidewire to the contralateral Corsair microcatheter located inside the plaque of CTO lesions. The majority of the CTO sites examined were in the proximal RCA (60 %). Lesion length of the occlusion was relatively long (64.4 ± 12.2 mm). Using the biplane imaging system, we were able to control the Gaia guidewires in a specific direction. Furthermore, if the antegrade and retrograde wires can be advanced into contiguous space inside the CTO lesion, we intentionally entered either wire into the contralateral Corsair microcatheter, followed by successful CTO crossing. CTO recanalization was completed for all patients without controlled antegrade retrograde subintimal tracking (CART) or reverse CART. No major complications occurred during hospitalization. These results indicate that the Rendezvous technique, assisted by new devices and a biplane imaging system, represents one of the primary options to achieve successful coronary CTO recanalization. (249/250 words).

  15. Ethics in education supervision

    Directory of Open Access Journals (Sweden)

    Fatma ÖZMEN

    2008-06-01

    Full Text Available Supervision in education plays a crucial role in attaining educational goals. In addition to determining the present situation, it has a theoretical and practical function regarding the actions to be taken in general and the achievement of teacher development in particular to meet the educational goals in the most effective way. For the education supervisors to act ethically in their tasks while achieving this vital mission shall facilitate them to build up trust, to enhance the level of collaboration and sharing, thus it shall contribute to organizational effectiveness. Ethics is an essential component of educational supervision. Yet, it demonstrates rather vague quality due to the conditions, persons, and situations. Therefore, it is a difficult process to develop the ethical standards in institutions. This study aims to clarify the concept of ethics, to bring up its importance, and to make recommendations for more effective supervisions from the aspect of ethics, based on the literature review, some research results, and sample cases reported by teachers and supervisors.

  16. Diabetic autonomic neuropathy.

    Science.gov (United States)

    Freeman, Roy

    2014-01-01

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

  17. Action learning in undergraduate engineering thesis supervision

    Directory of Open Access Journals (Sweden)

    Brad Stappenbelt

    2017-03-01

    Full Text Available In the present action learning implementation, twelve action learning sets were conducted over eight years. The action learning sets consisted of students involved in undergraduate engineering research thesis work. The concurrent study accompanying this initiative, investigated the influence of the action learning environment on student approaches to learning and any accompanying academic, learning and personal benefits realised. The influence of preferred learning styles on set function and student adoption of the action learning process were also examined. The action learning environment implemented had a measurable significant positive effect on student academic performance, their ability to cope with the stresses associated with conducting a research thesis, the depth of learning, the development of autonomous learners and student perception of the research thesis experience. The present study acts as an addendum to a smaller scale implementation of this action learning approach, applied to supervision of third and fourth year research projects and theses, published in 2010.

  18. Online supervision at the university

    DEFF Research Database (Denmark)

    Bengtsen, Søren Smedegaard; Jensen, Gry Sandholm

    2015-01-01

    The article presents and condenses the background, findings and results of a one yearlong research project on online supervision and feedback at the university. The article builds on presentations and discussions in different research environments and conferences on higher education research...... supervision proves unhelpful when trying to understand how online supervision and feedback is a pedagogical phenomenon in its own right, and irreducible to the face-to-face context. Secondly we show that not enough attention has been given to the way different digital tools and platforms influence...... the supervisory dialogue in the specific supervision context. We conclude by terming this challenge in online supervision a form of ‘torn pedagogy’; that online tools and platforms destabilise and ‘tear’ traditional understandings of supervision pedagogy ‘apart’. Also, we conclude that on the backdrop of a torn...

  19. Methodology for Developing a Probabilistic Risk Assessment Model of Spacecraft Rendezvous and Dockings

    Science.gov (United States)

    Farnham, Steven J., II; Garza, Joel, Jr.; Castillo, Theresa M.; Lutomski, Michael

    2011-01-01

    In 2007 NASA was preparing to send two new visiting vehicles carrying logistics and propellant to the International Space Station (ISS). These new vehicles were the European Space Agency s (ESA) Automated Transfer Vehicle (ATV), the Jules Verne, and the Japanese Aerospace and Explorations Agency s (JAXA) H-II Transfer Vehicle (HTV). The ISS Program wanted to quantify the increased risk to the ISS from these visiting vehicles. At the time, only the Shuttle, the Soyuz, and the Progress vehicles rendezvoused and docked to the ISS. The increased risk to the ISS was from an increase in vehicle traffic, thereby, increasing the potential catastrophic collision during the rendezvous and the docking or berthing of the spacecraft to the ISS. A universal method of evaluating the risk of rendezvous and docking or berthing was created by the ISS s Risk Team to accommodate the increasing number of rendezvous and docking or berthing operations due to the increasing number of different spacecraft, as well as the future arrival of commercial spacecraft. Before the first docking attempt of ESA's ATV and JAXA's HTV to the ISS, a probabilistic risk model was developed to quantitatively calculate the risk of collision of each spacecraft with the ISS. The 5 rendezvous and docking risk models (Soyuz, Progress, Shuttle, ATV, and HTV) have been used to build and refine the modeling methodology for rendezvous and docking of spacecrafts. This risk modeling methodology will be NASA s basis for evaluating the addition of future ISS visiting spacecrafts hazards, including SpaceX s Dragon, Orbital Science s Cygnus, and NASA s own Orion spacecraft. This paper will describe the methodology used for developing a visiting vehicle risk model.

  20. Supervised Transfer Sparse Coding

    KAUST Repository

    Al-Shedivat, Maruan

    2014-07-27

    A combination of the sparse coding and transfer learn- ing techniques was shown to be accurate and robust in classification tasks where training and testing objects have a shared feature space but are sampled from differ- ent underlying distributions, i.e., belong to different do- mains. The key assumption in such case is that in spite of the domain disparity, samples from different domains share some common hidden factors. Previous methods often assumed that all the objects in the target domain are unlabeled, and thus the training set solely comprised objects from the source domain. However, in real world applications, the target domain often has some labeled objects, or one can always manually label a small num- ber of them. In this paper, we explore such possibil- ity and show how a small number of labeled data in the target domain can significantly leverage classifica- tion accuracy of the state-of-the-art transfer sparse cod- ing methods. We further propose a unified framework named supervised transfer sparse coding (STSC) which simultaneously optimizes sparse representation, domain transfer and classification. Experimental results on three applications demonstrate that a little manual labeling and then learning the model in a supervised fashion can significantly improve classification accuracy.

  1. Advanced Music Therapy Supervision Training

    DEFF Research Database (Denmark)

    2009-01-01

    supervision training excerpts live in the workshop will be offered. The workshop will include demonstrating a variety of supervision methods and techniques used in A) post graduate music therapy training programs b) a variety of work contexts such as psychiatry and somatic music psychotherapy. The workshop......The presentation will illustrate training models in supervision for experienced music therapists where transference/counter transference issues are in focus. Musical, verbal and body related tools will be illustrated from supervision practice by the presenters. A possibility to experience small...

  2. Advanced Music Therapy Supervision Training

    DEFF Research Database (Denmark)

    2009-01-01

    supervision training excerpts live in the workshop will be offered. The workshop will include demonstrating a variety of supervision methods and techniques used in A) post graduate music therapy training programs b) a variety of work contexts such as psychiatry and somatic music psychotherapy. The workshop......The presentation will illustrate training models in supervision for experienced music therapists where transference/counter transference issues are in focus. Musical, verbal and body related tools will be illustrated from supervision practice by the presenters. A possibility to experience small...

  3. Observer-Based Robust Control for Spacecraft Rendezvous with Thrust Saturation

    Directory of Open Access Journals (Sweden)

    Neng Wan

    2014-01-01

    Full Text Available This paper proposes an observer-based robust guaranteed cost control method for thrust-limited rendezvous in near-circular orbits. Treating the noncircularity of the target orbit as a parametric uncertainty, a linearized motion model derived from the two-body problem is adopted as the controlled plant. Based on this model, a robust guaranteed cost observer-controller is synthesized with a less conservative saturation control law, and sufficient condition for the existence of this observer-based rendezvous controller is derived. Finally, an illustrative example with immeasurable velocity states is presented to demonstrate the advantages and effectiveness of the control scheme.

  4. Public Supervision over Private Relationships : Towards European Supervision Private Law?

    NARCIS (Netherlands)

    Cherednychenko, O.O.

    2014-01-01

    The rise of public supervision over private relationships in many areas of private law has led to the development of what, in the author’s view, could be called ‘European supervision private law’. This emerging body of law forms part of European regulatory private law and is made up of contract-rela

  5. Supervising PETE Candidates Using the Situational Supervision Model

    Science.gov (United States)

    Levy, Linda S.; Johnson, Lynn V.

    2012-01-01

    Physical education teacher candidates (PETCs) often, as part of their curricular requirements, engage in early field experiences that prepare them for student teaching. Matching the PETC's developmental level with the mentor's supervision style enhances this experience. The situational supervision model, based on the situational leadership model,…

  6. Exploring Clinical Supervision as Instrument for Effective Teacher Supervision

    Science.gov (United States)

    Ibara, E. C.

    2013-01-01

    This paper examines clinical supervision approaches that have the potential to promote and implement effective teacher supervision in Nigeria. The various approaches have been analysed based on the conceptual framework of instructional supervisory behavior. The findings suggest that a clear distinction can be made between the prescriptive and…

  7. Supervision Learning as Conceptual Threshold Crossing: When Supervision Gets "Medieval"

    Science.gov (United States)

    Carter, Susan

    2016-01-01

    This article presumes that supervision is a category of teaching, and that we all "learn" how to teach better. So it enquires into what novice supervisors need to learn. An anonymised digital questionnaire sought data from supervisors [n226] on their experiences of supervision to find out what was difficult, and supervisor interviews…

  8. Supervision Learning as Conceptual Threshold Crossing: When Supervision Gets "Medieval"

    Science.gov (United States)

    Carter, Susan

    2016-01-01

    This article presumes that supervision is a category of teaching, and that we all "learn" how to teach better. So it enquires into what novice supervisors need to learn. An anonymised digital questionnaire sought data from supervisors [n226] on their experiences of supervision to find out what was difficult, and supervisor interviews…

  9. Supervision of Supervised Agricultural Experience Programs: A Synthesis of Research.

    Science.gov (United States)

    Dyer, James E.; Williams, David L.

    1997-01-01

    A review of literature from 1964 to 1993 found that supervised agricultural experience (SAE) teachers, students, parents, and employers value the teachers' supervisory role. Implementation practices vary widely and there are no cumulative data to guide policies and standards for SAE supervision. (SK)

  10. Quantitative Autonomic Testing

    OpenAIRE

    Novak, Peter

    2011-01-01

    Disorders associated with dysfunction of autonomic nervous system are quite common yet frequently unrecognized. Quantitative autonomic testing can be invaluable tool for evaluation of these disorders, both in clinic and research. There are number of autonomic tests, however, only few were validated clinically or are quantitative. Here, fully quantitative and clinically validated protocol for testing of autonomic functions is presented. As a bare minimum the clinical autonomic laboratory shoul...

  11. Inductive Supervised Quantum Learning

    Science.gov (United States)

    Monràs, Alex; Sentís, Gael; Wittek, Peter

    2017-05-01

    In supervised learning, an inductive learning algorithm extracts general rules from observed training instances, then the rules are applied to test instances. We show that this splitting of training and application arises naturally, in the classical setting, from a simple independence requirement with a physical interpretation of being nonsignaling. Thus, two seemingly different definitions of inductive learning happen to coincide. This follows from the properties of classical information that break down in the quantum setup. We prove a quantum de Finetti theorem for quantum channels, which shows that in the quantum case, the equivalence holds in the asymptotic setting, that is, for large numbers of test instances. This reveals a natural analogy between classical learning protocols and their quantum counterparts, justifying a similar treatment, and allowing us to inquire about standard elements in computational learning theory, such as structural risk minimization and sample complexity.

  12. Supervision in Special Language Programs.

    Science.gov (United States)

    Florez-Tighe, Viola

    Too little emphasis is placed on instructional supervision in special language programs for limited-English-proficient students. Such supervision can provide a mechanism to promote the growth of instructional staff, improve the instructional program, and lead to curriculum development. Many supervisors are undertrained and unable to provide…

  13. Unfinished Business: Subjectivity and Supervision

    Science.gov (United States)

    Green, Bill

    2005-01-01

    Within the now burgeoning literature on doctoral research education, postgraduate research supervision continues to be a problematical issue, practically and theoretically. This paper seeks to explore and understand supervision as a distinctive kind of pedagogic practice. Informed by a larger research project, it draws on poststructuralism,…

  14. Supervision af psykoterapi via Skype

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard; Grünbaum, Liselotte

    2011-01-01

    clinical experience of Skype™ in supervision, mainly of psychoanalytic child psychotherapy, is presented and reflected upon. Finally, the reluctance of the Danish Board for Psychologists’s to recognize audiovisual distance supervision as part of the required training demands is discussed. It is concluded...

  15. Supervisees' Perception of Clinical Supervision

    Science.gov (United States)

    Willis, Lisa

    2010-01-01

    Supervisors must become aware of the possible conflicts that could arise during clinical supervision. It is important that supervisors communicate their roles and expectations effectively with their supervisees. This paper supports the notion that supervision is a mutual agreement between the supervisee and the supervisor and the roles of…

  16. Assessment of Counselors' Supervision Processes

    Science.gov (United States)

    Ünal, Ali; Sürücü, Abdullah; Yavuz, Mustafa

    2013-01-01

    The aim of this study is to investigate elementary and high school counselors' supervision processes and efficiency of their supervision. The interview method was used as it was thought to be better for realizing the aim of the study. The study group was composed of ten counselors who were chosen through purposeful sampling method. Data were…

  17. Tværfaglig supervision

    DEFF Research Database (Denmark)

    Tværfaglig supervision dækker over supervision af forskellige faggrupper. Det er en kompleks disciplin der stiller store krav tl supervisor. Bogens første del præsenterer fire faglige supervisionsmodeller: En almen, en psykodynamisk, en kognitiv adfærdsterapeutisk og en narrativ. Anden del...

  18. Tværfaglig supervision

    DEFF Research Database (Denmark)

    Tværfaglig supervision dækker over supervision af forskellige faggrupper. Det er en kompleks disciplin der stiller store krav tl supervisor. Bogens første del præsenterer fire faglige supervisionsmodeller: En almen, en psykodynamisk, en kognitiv adfærdsterapeutisk og en narrativ. Anden del henven...

  19. Supervision Duty of School Principals

    Directory of Open Access Journals (Sweden)

    Kürşat YILMAZ

    2009-04-01

    Full Text Available Supervision by school administrators is becoming more and more important. The change in the roles ofschool administrators has a great effect on that increase. At present, school administrators are consideredmore than as technical directors, but as instructional leaders. This increased the importance of schooladministrators’ expected supervision acts. In this respect, the aim of this study is to make a conceptualanalysis about school administrators’ supervision duties. For this reason, a literature review related withsupervision and contemporary supervision approaches was done, and the official documents concerningsupervision were examined. As a result, it can be said that school administrators’ supervision duties havebecome very important. And these duties must certainly be carried out by school administrators.

  20. Group supervision for general practitioners

    DEFF Research Database (Denmark)

    Galina Nielsen, Helena; Sofie Davidsen, Annette; Dalsted, Rikke;

    2013-01-01

    AIM: Group supervision is a sparsely researched method for professional development in general practice. The aim of this study was to explore general practitioners' (GPs') experiences of the benefits of group supervision for improving the treatment of mental disorders. METHODS: One long...... considered important prerequisites for disclosing and discussing professional problems. CONCLUSION: The results of this study indicate that participation in a supervision group can be beneficial for maintaining and developing GPs' skills in dealing with patients with mental health problems. Group supervision......-established supervision group was studied closely for six months by observing the group sessions, and by interviewing GPs and their supervisors, individually and collectively. The interviews were recorded digitally and transcribed verbatim. The data were analysed using systematic text condensation. RESULTS: The GPs found...

  1. Endoskopisk ultralydvejledt rendezvous til intern drænage ved galdevejsobstruktion

    DEFF Research Database (Denmark)

    Knudsen, Marie Høxbro; Vilmann, Peter; Hassan, Hazem

    2015-01-01

    Endoscopic retrograde cholangiography (ERCP) is currently standard treatment for biliary drainage. Endoscopic ultrasound guided rendezvous (EUS-RV) is a novel method to overcome an unsuccessful biliary drainage procedure. Under endoscopic ultrasound guidance a guidewire is passed via a needle fro...

  2. Optimal starting conditions for the rendezvous maneuver: Analytical and computational approach

    Science.gov (United States)

    Ciarcia, Marco

    The three-dimensional rendezvous between two spacecraft is considered: a target spacecraft on a circular orbit around the Earth and a chaser spacecraft initially on some elliptical orbit yet to be determined. The chaser spacecraft has variable mass, limited thrust, and its trajectory is governed by three controls, one determining the thrust magnitude and two determining the thrust direction. We seek the time history of the controls in such a way that the propellant mass required to execute the rendezvous maneuver is minimized. Two cases are considered: (i) time-to-rendezvous free and (ii) time-to-rendezvous given, respectively equivalent to (i) free angular travel and (ii) fixed angular travel for the target spacecraft. The above problem has been studied by several authors under the assumption that the initial separation coordinates and the initial separation velocities are given, hence known initial conditions for the chaser spacecraft. In this paper, it is assumed that both the initial separation coordinates and initial separation velocities are free except for the requirement that the initial chaser-to-target distance is given so as to prevent the occurrence of trivial solutions. Two approaches are employed: optimal control formulation (Part A) and mathematical programming formulation (Part B). In Part A, analyses are performed with the multiple-subarc sequential gradient-restoration algorithm for optimal control problems. They show that the fuel-optimal trajectory is zero-bang, namely it is characterized by two subarcs: a long coasting zero-thrust subarc followed by a short powered max-thrust braking subarc. While the thrust direction of the powered subarc is continuously variable for the optimal trajectory, its replacement with a constant (yet optimized) thrust direction produces a very efficient guidance trajectory. Indeed, for all values of the initial distance, the fuel required by the guidance trajectory is within less than one percent of the fuel required

  3. Autoimmune autonomic disorders.

    Science.gov (United States)

    Mckeon, Andrew; Benarroch, Eduardo E

    2016-01-01

    Autoimmune autonomic disorders occur because of an immune response directed against sympathetic, parasympathetic, and enteric ganglia, autonomic nerves, or central autonomic pathways. In general, peripheral autoimmune disorders manifest with either generalized or restricted autonomic failure, whereas central autoimmune disorders manifest primarily with autonomic hyperactivity. Some autonomic disorders are generalized, and others are limited in their anatomic extent, e.g., isolated gastrointestinal dysmotility. Historically, these disorders were poorly recognized, and thought to be neurodegenerative. Over the last 20 years a number of autoantibody biomarkers have been discovered that have enabled the identification of certain patients as having an autoimmune basis for either autonomic failure or hyperactivity. Peripheral autoimmune autonomic disorders include autoimmune autonomic ganglionopathy (AAG), paraneoplastic autonomic neuropathy, and acute autonomic and sensory neuropathy. AAG manifests with acute or subacute onset of generalized or selective autonomic failure. Antibody targeting the α3 subunit of the ganglionic-type nicotinic acetylcholine receptor (α3gAChR) is detected in approximately 50% of cases of AAG. Some other disorders are characterized immunologically by paraneoplastic antibodies with a high positive predictive value for cancer, such as antineuronal nuclear antibody, type 1 (ANNA-1: anti-Hu); others still are seronegative. Recognition of an autoimmune basis for autonomic disorders is important, as their manifestations are disabling, may reflect an underlying neoplasm, and have the potential to improve with a combination of symptomatic and immune therapies.

  4. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

  5. 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 ...

  6. [Trigeminal autonomic cephalgias].

    Science.gov (United States)

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

    2015-01-01

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

  7. Trade Supervision Adjustment in 2012

    Institute of Scientific and Technical Information of China (English)

    2012-01-01

    China revised its supervision policies on import and export trades again, with 13 notices approved by related government ministries and administrations as well as 15 catalogues of import and export licenses being involved.

  8. Learning Dynamics in Doctoral Supervision

    DEFF Research Database (Denmark)

    Kobayashi, Sofie

    This doctoral research explores doctoral supervision within life science research in a Danish university. From one angle it investigates doctoral students’ experiences with strengthening the relationship with their supervisors through a structured meeting with the supervisor, prepared as part...... investigates learning opportunities in supervision with multiple supervisors. This was investigated through observations and recording of supervision, and subsequent analysis of transcripts. The analyses used different perspectives on learning; learning as participation, positioning theory and variation theory....... The research illuminates how learning opportunities are created in the interaction through the scientific discussions. It also shows how multiple supervisors can contribute to supervision by providing new perspectives and opinions that have a potential for creating new understandings. The combination...

  9. Developing a scientific culture through supervision

    Directory of Open Access Journals (Sweden)

    Danie F.M. Strauss

    2012-11-01

    Full Text Available Through effective educational transmission cultural traditions are passed on to subsequent generations. The presence of alternative theoretical views of reality (paradigms in various academic disciplines uprooted the positivistic conviction that genuine science ought to be ‘objective’ and ‘neutral’. The background of this view is found in Renaissance and post-Renaissance philosophy, with its initial points of culmination in the thought of the 18th century philosopher, Immanuel Kant. He safe-guarded autonomous human freedom by restricting scholarship to phenomena (subject to the universal law of causality. The dialectic between nature and freedom gave direction to modern philosophy. Non-reductionist orientations eventually emerged recognising what is irreducible. Although a sound academic culture,operative within supervision to doctoral students, must pay attention to argumentative skills and informal logic, it must at the same time acknowledge the limitations of logic. The principle of sufficient reason refers human thinking beyond logic itself. The supervisor therefore should generate, amongst students, an awareness of the difference between reductionist and non-reductionist ontologies. Doctoral students must also realise that persistent themes and scientific revolutions go hand-in-hand. Some examples of seeing the aspects of reality as modes of explanation are given, before the seven aims of scientific endeavors identified by Stafleu are stipulated. This constitutes another important guideline that ought to be taken into account in supervising post-graduate work. Argumentative skills, scientific communication and the status of facts are discussed before a concluding formulation is given in which the overall argument of the article is summarised.

  10. Tools and Techniques for a Systematic Approach to Safe Rendezvous and Proximity Operations

    Science.gov (United States)

    Taylor, Rob; Rishikof, Brian

    2010-09-01

    Among the most demanding operations facing manned spaceflight is the ability to successfully and safely complete Rendezvous Proximity Operations & Capture(RPOC) operations with a target vehicle. While perhaps made to look routine from a safety perspective for some vehicles and developers regularly docking to the International Space Station(namely the Space Shuttle, and Russian Progress and Soyuz vehicles), international partners and commercial vehicle developers are finding it among the most difficult engineering challenges. Whether docking with the International Space Station in low earth orbit, or rendezvousing with a returning spacecraft in low lunar orbit, successfully and systematically accounting for all the combinations of risks and failures which lead to failed rendezvous or collisions can be daunting. Systems such as propulsion, avionics, software, and command and data handling(C&DH) must all work as a single integrated system; and the guidance, navigation, and control(GN&C) systems arguably forms the heart of that unit. In response to this challenge, Odyssey Space Research(Odyssey) utilizes their core GN&C engineering competencies, systems engineering capabilities and associated simulation tools to address the safety of RPOC. These simulations provide for high-level mission scenario analysis, systems design, mission planning, monitoring, and implementation, covering all flight phases of rendezvous from orbit insertion, phasing and transfer orbits, far-range rendezvous operations, proximity operations, and capture. Combined with a systems engineering approach, it allows our team to analyze functional system capabilities, propose design modifications and then perform the safety engineering aspect of evaluating that vehicle’s safety compliance. The simulation, modeling and analysis tools(such as domain specific RPOC models, and visualization and virtual reality) allow for detailed design and development and/or help provide the independent assessment

  11. Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties

    Science.gov (United States)

    Sun, Liang; Zheng, Zewei

    2017-04-01

    An adaptive relative pose control strategy is proposed for a pursue spacecraft in proximity operations on a tumbling target. Relative position vector between two spacecraft is required to direct towards the docking port of the target while the attitude of them must be synchronized. With considering the thrust misalignment of pursuer, an integrated controller for relative translational and relative rotational dynamics is developed by using norm-wise adaptive estimations. Parametric uncertainties, unknown coupled dynamics, and bounded external disturbances are compensated online by adaptive update laws. It is proved via Lyapunov stability theory that the tracking errors of relative pose converge to zero asymptotically. Numerical simulations including six degrees-of-freedom rigid body dynamics are performed to demonstrate the effectiveness of the proposed controller.

  12. 20 CFR 656.21 - Supervised recruitment.

    Science.gov (United States)

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Supervised recruitment. 656.21 Section 656.21... Supervised recruitment. (a) Supervised recruitment. Where the Certifying Officer determines it appropriate, post-filing supervised recruitment may be required of the employer for the pending application or...

  13. Educational Supervision Appropriate for Psychiatry Trainee's Needs

    Science.gov (United States)

    Rele, Kiran; Tarrant, C. Jane

    2010-01-01

    Objective: The authors studied the regularity and content of supervision sessions in one of the U.K. postgraduate psychiatric training schemes (Mid-Trent). Methods: A questionnaire sent to psychiatry trainees assessed the timing and duration of supervision, content and protection of supervision time, and overall quality of supervision. The authors…

  14. 32 CFR 727.11 - Supervision.

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 5 2010-07-01 2010-07-01 false Supervision. 727.11 Section 727.11 National... Supervision. The Judge Advocate General will exercise supervision over all legal assistance activities in the Department of the Navy. Subject to the supervision of the Judge Advocate General, officers in charge of...

  15. The autonomic laboratory

    Science.gov (United States)

    Low, P. A.; Opfer-Gehrking, T. L.

    1999-01-01

    The autonomic nervous system can now be studied quantitatively, noninvasively, and reproducibly in a clinical autonomic laboratory. The approach at the Mayo Clinic is to study the postganglionic sympathetic nerve fibers of peripheral nerve (using the quantitative sudomotor axon reflex test [QSART]), the parasympathetic nerves to the heart (cardiovagal tests), and the regulation of blood pressure by the baroreflexes (adrenergic tests). Patient preparation is extremely important, since the state of the patient influences the results of autonomic function tests. The autonomic technologist in this evolving field needs to have a solid core of knowledge of autonomic physiology and autonomic function tests, followed by training in the performance of these tests in a standardized fashion. The range and utilization of tests of autonomic function will likely continue to evolve.

  16. Multivoiced Supervision of Master's Students: A Case Study of Alternative Supervision Practices in Higher Education

    Science.gov (United States)

    Dysthe, Olga; Samara, Akylina; Westrheim, Kariane

    2006-01-01

    This article describes and analyzes an alternative supervision model at the Master of Education Programme at the University of Bergen aimed at improving research supervision. A three-pronged approach was introduced, combining supervision groups, student colloquia and individual supervision. The supervision groups consisted of two supervisors and…

  17. Clinical supervision in a community setting.

    Science.gov (United States)

    Evans, Carol; Marcroft, Emma

    Clinical supervision is a formal process of professional support, reflection and learning that contributes to individual development. First Community Health and Care is committed to providing clinical supervision to nurses and allied healthcare professionals to support the provision and maintenance of high-quality care. In 2012, we developed new guidelines for nurses and AHPs on supervision, incorporating a clinical supervision framework. This offers a range of options to staff so supervision accommodates variations in work settings and individual learning needs and styles.

  18. Clinical supervision: the state of the art.

    Science.gov (United States)

    Falender, Carol A; Shafranske, Edward P

    2014-11-01

    Since the recognition of clinical supervision as a distinct professional competence and a core competence, attention has turned to ensuring supervisor competence and effective supervision practice. In this article, we highlight recent developments and the state of the art in supervision, with particular emphasis on the competency-based approach. We present effective clinical supervision strategies, providing an integrated snapshot of the current status. We close with consideration of current training practices in supervision and challenges.

  19. Systematic Low-Thrust Trajectory Optimization for a Multi-Rendezvous Mission using Adjoint Scaling

    CERN Document Server

    Jiang, Fanghua

    2016-01-01

    A deep-space exploration mission with low-thrust propulsion to rendezvous with multiple asteroids is investigated. Indirect methods, based on the optimal control theory, are implemented to optimize the fuel consumption. The application of indirect methods for optimizing low-thrust trajectories between two asteroids is briefly given. An effective method is proposed to provide initial guesses for transfers between close near-circular near-coplanar orbits. The conditions for optimality of a multi-asteroid rendezvous mission are determined. The intuitive method of splitting the trajectories into several legs that are solved sequentially is applied first. Then the results are patched together by a scaling method to provide a tentative guess for optimizing the whole trajectory. Numerical examples of optimizing three probe exploration sequences that contain a dozen asteroids each demonstrate the validity and efficiency of these methods.

  20. SUMO/FREND: vision system for autonomous satellite grapple

    Science.gov (United States)

    Obermark, Jerome; Creamer, Glenn; Kelm, Bernard E.; Wagner, William; Henshaw, C. Glen

    2007-04-01

    SUMO/FREND is a risk reduction program for an advanced servicing spacecraft sponsored by DARPA and executed by the Naval Center for Space Technology at the Naval Research Laboratory in Washington, DC. The overall program will demonstrate the integration of many techniques needed in order to autonomously rendezvous and capture customer satellites at geosynchronous orbits. A flight-qualifiable payload is currently under development to prove out challenging aspects of the mission. The grappling process presents computer vision challenges to properly identify and guide the final step in joining the pursuer craft to the customer. This paper will provide an overview of the current status of the project with an emphasis on the challenges, techniques, and directions of the machine vision processes to guide the grappling.

  1. The classical Doppler effect as a rendezvous problem; 3D case

    OpenAIRE

    Di Rocco, Hector Omar

    2016-01-01

    En este trabajo se deriva la fórmula para el corrimiento Doppler como si tratásemos un problema de encuentro, unificando todos los posibles movimientos relativos entre la fuente y el observador We derive the classical Doppler shift formula as a rendezvous problem, unifying all possible relative movements between the source and the observer Fil: Di Rocco, Hector Omar. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Instituto de Fisica Arroyo...

  2. Cooperative Solution of Multi-UAV Rendezvous Problem with Network Restrictions

    Directory of Open Access Journals (Sweden)

    Qingjie Zhang

    2015-01-01

    Full Text Available By considering the complex networks, the cooperative game based optimal consensus (CGOC algorithm is proposed to solve the multi-UAV rendezvous problem in the mission area. Firstly, the mathematical description of the rendezvous problem is established, and the solving framework is provided based on the coordination variables and coordination function. It can decrease the transmission of the redundant information and reduce the influence of the limited network on the task. Secondly, the CGOC algorithm is presented for the UAVs in distributed cooperative manner, which can minimize the overall cost of the multi-UAV system. The CGOC control problem and the corresponding solving protocol are given by using the cooperative game theory and sensitivity parameter method. Then, the CGOC method of multi-UAV rendezvous problem is proposed, which focuses on the trajectory control of the platform rather than the path planning. Simulation results are given to demonstrate the effectiveness of the proposed CGOC method under complex network conditions and the benefit on the overall optimality and dynamic response.

  3. Tele-Supervised Adaptive Ocean Sensor Fleet

    Science.gov (United States)

    Lefes, Alberto; Podnar, Gregg W.; Dolan, John M.; Hosler, Jeffrey C.; Ames, Troy J.

    2009-01-01

    The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate

  4. Challenges for Better thesis supervision.

    Science.gov (United States)

    Ghadirian, Laleh; Sayarifard, Azadeh; Majdzadeh, Reza; Rajabi, Fatemeh; Yunesian, Masoud

    2014-01-01

    Conduction of thesis by the students is one of their major academic activities. Thesis quality and acquired experiences are highly dependent on the supervision. Our study is aimed at identifing the challenges in thesis supervision from both students and faculty members point of view. This study was conducted using individual in-depth interviews and Focus Group Discussions (FGD). The participants were 43 students and faculty members selected by purposive sampling. It was carried out in Tehran University of Medical Sciences in 2012. Data analysis was done concurrently with data gathering using content analysis method. Our data analysis resulted in 162 codes, 17 subcategories and 4 major categories, "supervisory knowledge and skills", "atmosphere", "bylaws and regulations relating to supervision" and "monitoring and evaluation". This study showed that more attention and planning in needed for modifying related rules and regulations, qualitative and quantitative improvement in mentorship training, research atmosphere improvement and effective monitoring and evaluation in supervisory area.

  5. Quantitative autonomic testing.

    Science.gov (United States)

    Novak, Peter

    2011-07-19

    Disorders associated with dysfunction of autonomic nervous system are quite common yet frequently unrecognized. Quantitative autonomic testing can be invaluable tool for evaluation of these disorders, both in clinic and research. There are number of autonomic tests, however, only few were validated clinically or are quantitative. Here, fully quantitative and clinically validated protocol for testing of autonomic functions is presented. As a bare minimum the clinical autonomic laboratory should have a tilt table, ECG monitor, continuous noninvasive blood pressure monitor, respiratory monitor and a mean for evaluation of sudomotor domain. The software for recording and evaluation of autonomic tests is critical for correct evaluation of data. The presented protocol evaluates 3 major autonomic domains: cardiovagal, adrenergic and sudomotor. The tests include deep breathing, Valsalva maneuver, head-up tilt, and quantitative sudomotor axon test (QSART). The severity and distribution of dysautonomia is quantitated using Composite Autonomic Severity Scores (CASS). Detailed protocol is provided highlighting essential aspects of testing with emphasis on proper data acquisition, obtaining the relevant parameters and unbiased evaluation of autonomic signals. The normative data and CASS algorithm for interpretation of results are provided as well.

  6. Ethics in Rehabilitation Counselor Supervision.

    Science.gov (United States)

    Blackwell, Terry L.; Strohmer, Douglas C.; Belcas, Eva M.; Burton, Kathryn A.

    2002-01-01

    Article is an exploration of some of the ethical issues facing rehabilitation counselors who provide clinical supervision. Ethical issues related to competence, evaluation and due process, dual relationships, confidentiality, and informed consent are discussed. (Contains 28references, 2 tables, and 1 appendix.) (Author)

  7. Semi-Autonomous Systems Laboratory

    Data.gov (United States)

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

  8. 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...

  9. 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...

  10. 20 CFR 655.30 - Supervised recruitment.

    Science.gov (United States)

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Supervised recruitment. 655.30 Section 655.30... Workers) § 655.30 Supervised recruitment. (a) Supervised recruitment. Where an employer is found to have... failed to adequately conduct recruitment activities or failed in any obligation of this part, the CO may...

  11. 40 CFR 35.935-8 - Supervision.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 1 2010-07-01 2010-07-01 false Supervision. 35.935-8 Section 35.935-8... ASSISTANCE Grants for Construction of Treatment Works-Clean Water Act § 35.935-8 Supervision. In the case of... supervision and inspection of the project to ensure that the construction conforms with the approved plans...

  12. Supervision Experiences of New Professional School Counselors

    Science.gov (United States)

    Bultsma, Shawn A.

    2012-01-01

    This qualitative study examined the supervision experiences of 11 new professional school counselors. They reported that their supervision experiences were most often administrative in nature; reports of clinical and developmental supervision were limited to participants whose supervisors were licensed as professional counselors. In addition,…

  13. 10 CFR 35.27 - Supervision.

    Science.gov (United States)

    2010-01-01

    ... 10 Energy 1 2010-01-01 2010-01-01 false Supervision. 35.27 Section 35.27 Energy NUCLEAR REGULATORY COMMISSION MEDICAL USE OF BYPRODUCT MATERIAL General Administrative Requirements § 35.27 Supervision. (a) A... under the supervision of an authorized user, as allowed by § 35.11(b)(1), shall— (1) In addition to...

  14. 28 CFR 2.91 - Supervision responsibility.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 1 2010-07-01 2010-07-01 false Supervision responsibility. 2.91 Section 2.91 Judicial Administration DEPARTMENT OF JUSTICE PAROLE, RELEASE, SUPERVISION AND RECOMMITMENT OF....91 Supervision responsibility. (a) Pursuant to D.C. Code 24-133(c), the District of Columbia...

  15. 75 FR 59799 - Office of Thrift Supervision

    Science.gov (United States)

    2010-09-28

    ... Office of Thrift Supervision Purchase of Branch Office(s) and/or Transfer of Assets/Liabilities AGENCY: Office of Thrift Supervision (OTS), Treasury. ACTION: Notice and request for comment. SUMMARY: The... Supervision within the Department of the Treasury will submit the proposed information collection...

  16. 7 CFR 70.12 - Supervision.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 3 2010-01-01 2010-01-01 false Supervision. 70.12 Section 70.12 Agriculture... PRODUCTS AND RABBIT PRODUCTS Grading of Poultry Products and Rabbit Products General § 70.12 Supervision. All grading service shall be subject to supervision at all times by the responsible State...

  17. 7 CFR 550.33 - Administrative supervision.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 6 2010-01-01 2010-01-01 false Administrative supervision. 550.33 Section 550.33... Agreements Program Management § 550.33 Administrative supervision. REE employees are prohibited from engaging... management issues. The cooperator is solely responsible for the administrative supervision of its employees....

  18. 27 CFR 46.79 - Supervision.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 2 2010-04-01 2010-04-01 false Supervision. 46.79 Section... § 46.79 Supervision. Before payment is made under this subpart in respect of the tax, or tax and duty... under the supervision of an appropriate TTB officer who will be assigned for that purpose by...

  19. 24 CFR 200.105 - Mortgagor supervision.

    Science.gov (United States)

    2010-04-01

    ... 24 Housing and Urban Development 2 2010-04-01 2010-04-01 false Mortgagor supervision. 200.105... supervision. (a) As long as the Commissioner is the insurer or holder of the mortgage, the Commissioner shall... Regulatory Agreement or other instrument granting the Commissioner supervision of the mortgagor....

  20. The Learning Alliance: Ethics in Doctoral Supervision

    Science.gov (United States)

    Halse, Christine; Bansel, Peter

    2012-01-01

    This paper is concerned with the ethics of relationships in doctoral supervision. We give an overview of four paradigms of doctoral supervision that have endured over the past 25 years and elucidate some of their strengths and limitations, contextualise them historically and consider their implications for doctoral supervision in the contemporary…

  1. 48 CFR 836.572 - Government supervision.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Government supervision. 836.572 Section 836.572 Federal Acquisition Regulations System DEPARTMENT OF VETERANS AFFAIRS SPECIAL... supervision. The contracting officer shall insert the clause at 852.236-78, Government supervision,...

  2. 7 CFR 56.6 - Supervision.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 3 2010-01-01 2010-01-01 false Supervision. 56.6 Section 56.6 Agriculture Regulations of the Department of Agriculture (Continued) AGRICULTURAL MARKETING SERVICE (Standards, Inspections... Grading of Shell Eggs General § 56.6 Supervision. All grading service shall be subject to supervision...

  3. 32 CFR 631.3 - Supervision.

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 4 2010-07-01 2010-07-01 true Supervision. 631.3 Section 631.3 National Defense Department of Defense (Continued) DEPARTMENT OF THE ARMY (CONTINUED) LAW ENFORCEMENT AND CRIMINAL....3 Supervision. The following will develop and have staff supervision over AFDCB and...

  4. 9 CFR 354.13 - Supervision.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Supervision. 354.13 Section 354.13... CERTIFICATION VOLUNTARY INSPECTION OF RABBITS AND EDIBLE PRODUCTS THEREOF Basis of Service § 354.13 Supervision. All inspection service shall be subject to supervision at all times by the station supervisor,...

  5. Skærpet bevidsthed om supervision

    DEFF Research Database (Denmark)

    Pedersen, Inge Nygaard

    2002-01-01

    This article presents a historical survey of the initiatives which have taken place in european music therapy towards developing a deeper consciousness about supervision. Supervision as a disciplin in music therapy training, as a maintenance of music therapy profession and as a postgraduate...... training for examined music therapists. Definitions are presented and methods developed by working groups in european music therapy supervision are presented....

  6. Multicultural Supervision: What Difference Does Difference Make?

    Science.gov (United States)

    Eklund, Katie; Aros-O'Malley, Megan; Murrieta, Imelda

    2014-01-01

    Multicultural sensitivity and competency represent critical components to contemporary practice and supervision in school psychology. Internship and supervision experiences are a capstone experience for many new school psychologists; however, few receive formal training and supervision in multicultural competencies. As an increased number of…

  7. A National Survey of School Counselor Supervision Practices: Administrative, Clinical, Peer, and Technology Mediated Supervision

    Science.gov (United States)

    Perera-Diltz, Dilani M.; Mason, Kimberly L.

    2012-01-01

    Supervision is vital for personal and professional development of counselors. Practicing school counselors (n = 1557) across the nation were surveyed to explore current supervision practices. Results indicated that 41.1% of school counselors provide supervision. Although 89% receive some type of supervision, only 10.3% of school counselors receive…

  8. Supervision Experiences of Professional Counselors Providing Crisis Counseling

    Science.gov (United States)

    Dupre, Madeleine; Echterling, Lennis G.; Meixner, Cara; Anderson, Robin; Kielty, Michele

    2014-01-01

    In this phenomenological study, the authors explored supervision experiences of 13 licensed professional counselors in situations requiring crisis counseling. Five themes concerning crisis and supervision were identified from individual interviews. Findings support intensive, immediate crisis supervision and postlicensure clinical supervision.

  9. [Software version and medical device software supervision].

    Science.gov (United States)

    Peng, Liang; Liu, Xiaoyan

    2015-01-01

    The importance of software version in the medical device software supervision does not cause enough attention at present. First of all, the effect of software version in the medical device software supervision is discussed, and then the necessity of software version in the medical device software supervision is analyzed based on the discussion of the misunderstanding of software version. Finally the concrete suggestions on software version naming rules, software version supervision for the software in medical devices, and software version supervision scheme are proposed.

  10. Clinical supervision training across contexts.

    Science.gov (United States)

    Tai, Joanna; Bearman, Margaret; Edouard, Vicki; Kent, Fiona; Nestel, Debra; Molloy, Elizabeth

    2016-08-01

    Clinicians require specific skills to teach or supervise students in the workplace; however, there are barriers to accessing faculty member development, such as time, cost and suitability. The Clinical Supervision Support Across Contexts (ClinSSAC) programme was designed to provide accessible interprofessional educator training to clinical supervisors across a wide range of clinical settings. In Australia there are increasing numbers of health care students, creating pressure on existing placements. Students are now increasingly learning in community settings, where clinicians have traditionally had less access to faculty member development. An interprofessional team collaborated in the development and implementation of ClinSSAC. A total of 978 clinicians participated in a face-to-face, interactive, introductory module to clinical supervision; 672 people accessed the equivalent online core module, with 23 per cent completing all activities. Additional profession-and discipline-specific modules were also developed. Formal project evaluation found that most participants rated the workshops as helpful or very helpful for their roles as clinical supervisors. Interdisciplinary learning from the workshops was reported to enable cross-discipline supervision. Large participant numbers and favourable ratings indicate a continuing need for basic training in education. Key factors to workshop success included expert facilitators, the interprofessional context and interactive model. The online modules were an important adjunct, and provided context-specific resources, but the low online completion rate suggests protected face-to-face time for faculty member development is still required. Programmes such as ClinSSAC have the capacity to promote interprofessional education and practice. There are barriers to accessing faculty member development, such as time, cost and suitability. © 2015 John Wiley & Sons Ltd.

  11. Learning Dynamics in Doctoral Supervision

    DEFF Research Database (Denmark)

    Kobayashi, Sofie

    This doctoral research explores doctoral supervision within life science research in a Danish university. From one angle it investigates doctoral students’ experiences with strengthening the relationship with their supervisors through a structured meeting with the supervisor, prepared as part...... of an introduction course for new doctoral students. This study showed how the course provides an effective way build supervisee agency and strengthening supervisory relationships through clarification and alignment of expectations and sharing goals about doctoral studies. From the other angle the research...

  12. The 3rd China Standardization Forum Held in Urumqi, Xinjiang Uygur Autonomous Region

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    @@ On Aug. 14th-15th, the 3rd China Standardization Forum, hosted by Standardization Administration of China(SAC), sponsored by China Association for Standardization (CAS) and associated by the Bureau of Quality &Technical Supervision of Xinjiang Uygur Autonomous Region of the People's Republic of China, was held in Urumqi, Xinjiang.

  13. Semi-supervised sparse coding

    KAUST Repository

    Wang, Jim Jing-Yan

    2014-07-06

    Sparse coding approximates the data sample as a sparse linear combination of some basic codewords and uses the sparse codes as new presentations. In this paper, we investigate learning discriminative sparse codes by sparse coding in a semi-supervised manner, where only a few training samples are labeled. By using the manifold structure spanned by the data set of both labeled and unlabeled samples and the constraints provided by the labels of the labeled samples, we learn the variable class labels for all the samples. Furthermore, to improve the discriminative ability of the learned sparse codes, we assume that the class labels could be predicted from the sparse codes directly using a linear classifier. By solving the codebook, sparse codes, class labels and classifier parameters simultaneously in a unified objective function, we develop a semi-supervised sparse coding algorithm. Experiments on two real-world pattern recognition problems demonstrate the advantage of the proposed methods over supervised sparse coding methods on partially labeled data sets.

  14. Nursing supervision for care comprehensiveness.

    Science.gov (United States)

    Chaves, Lucieli Dias Pedreschi; Mininel, Vivian Aline; Silva, Jaqueline Alcântara Marcelino da; Alves, Larissa Roberta; Silva, Maria Ferreira da; Camelo, Silvia Helena Henriques

    2017-01-01

    To reflect on nursing supervision as a management tool for care comprehensiveness by nurses, considering its potential and limits in the current scenario. A reflective study based on discourse about nursing supervision, presenting theoretical and practical concepts and approaches. Limits on the exercise of supervision are related to the organization of healthcare services based on the functional and clinical model of care, in addition to possible gaps in the nurse training process and work overload. Regarding the potential, researchers emphasize that supervision is a tool for coordinating care and management actions, which may favor care comprehensiveness, and stimulate positive attitudes toward cooperation and contribution within teams, co-responsibility, and educational development at work. Nursing supervision may help enhance care comprehensiveness by implying continuous reflection on including the dynamics of the healthcare work process and user needs in care networks. refletir a supervisão de enfermagem como instrumento gerencial do enfermeiro para integralidade do cuidado, considerando suas potencialidades e limitações no cenário atual. estudo reflexivo baseado na formulação discursiva sobre a supervisão de enfermagem, apresentando conceitos e enfoques teóricos e/ou práticos. limitações no exercício da supervisão estão relacionadas à organização dos serviços de saúde embasada no modelo funcional e clínico de atenção, assim como possíveis lacunas no processo de formação do enfermeiro e sobrecarga de trabalho. Quanto às potencialidades, destaca-se a supervisão como instrumento de articulação de ações assistenciais e gerenciais, que pode favorecer integralidade da atenção, estimular atitudes de cooperação e colaboração em equipe, além da corresponsabilização e promoção da educação no trabalho. supervisão de enfermagem pode contribuir para fortalecimento da integralidade do cuidado, pressupondo reflexão cont

  15. Hardware-in-the-Loop Rendezvous Tests of a Novel Actuators Command Concept

    Science.gov (United States)

    Gomes dos Santos, Willer; Marconi Rocco, Evandro; Boge, Toralf; Benninghoff, Heike; Rems, Florian

    2016-09-01

    Integration, test and validation results, in a real-time environment, of a novel concept for spacecraft control are presented in this paper. The proposed method commands simultaneously a group of actuators optimizing a given set of objective functions based on a multiobjective optimization technique. Since close proximity maneuvers play an important role in orbital servicing missions, the entire GNC system has been integrated and tested at a hardware-in-the-loop (HIL) rendezvous and docking simulator known as European Proximity Operations Simulator (EPOS). During the test campaign at EPOS facility, a visual camera has been used to provide the necessary measurements for calculating the relative position with respect to the target satellite during closed-loop simulations. In addition, two different configurations of spacecraft control have been considered in this paper: a thruster reaction control system and a mixed actuators mode which includes thrusters, reaction wheels, and magnetic torqrods. At EPOS, results of HIL closed-loop tests have demonstrated that a safe and stable rendezvous approach can be achieved with the proposed GNC loop.

  16. Four-Impulsive Rendezvous Maneuvers for Spacecrafts in Circular Orbits Using Genetic Algorithms

    Directory of Open Access Journals (Sweden)

    Denilson Paulo Souza dos Santos

    2012-01-01

    Full Text Available Spacecraft maneuvers is a very important topic in aerospace engineering activities today. In a more generic way, a spacecraft maneuver has the objective of transferring a spacecraft from one orbit to another, taking into account some restrictions. In the present paper, the problem of rendezvous is considered. In this type of problem, it is necessary to transfer a spacecraft from one orbit to another, but with the extra constraint of meeting another spacecraft when reaching the final orbit. In particular, the present paper aims to analyze rendezvous maneuvers between two coplanar circular orbits, seeking to perform this transfer with lowest possible fuel consumption, assuming that this problem is time-free and using four burns during the process. The assumption of four burns is used to represent a constraint posed by a real mission. Then, a genetic algorithm is used to solve the problem. After that, a study is made for a maneuver that will make a spacecraft to encounter a planet, in order to make a close approach that will change its energy. Several simulations are presented.

  17. Design and development of guidance navigation and control algorithms for spacecraft rendezvous and docking experimentation

    Science.gov (United States)

    Guglieri, Giorgio; Maroglio, Franco; Pellegrino, Pasquale; Torre, Liliana

    2014-01-01

    This paper presents the design of the GNC system of a ground test-bed for spacecraft rendezvous and docking experiments. The test-bed is developed within the STEPS project (Systems and Technologies for Space Exploration). The facility consists of a flat floor and two scaled vehicles, one active chaser and one “semi-active” target. Rendezvous and docking maneuvers are performed floating on the plane with pierced plates as lifting systems. The system is designed to work both with inertial and non-inertial reference frame, receiving signals from navigation sensors as: accelerometers, gyroscopes, laser meter, radio finder and video camera, and combining them with a digital filter. A Proportional-Integrative-Derivative control law and Pulse Width Modulators are used to command the cold gas thrusters of the chaser, and to follow an assigned trajectory with its specified velocity profile. The design and development of the guidance, navigation and control system and its architecture-including the software algorithms-are detailed in the paper, presenting a performance analysis based on a simulated environment. A complete description of the integrated subsystems is also presented.

  18. Hardware-in-the-Loop Rendezvous Tests of a Novel Actuators Command Concept

    Science.gov (United States)

    Gomes dos Santos, Willer; Marconi Rocco, Evandro; Boge, Toralf; Benninghoff, Heike; Rems, Florian

    2016-12-01

    Integration, test and validation results, in a real-time environment, of a novel concept for spacecraft control are presented in this paper. The proposed method commands simultaneously a group of actuators optimizing a given set of objective functions based on a multiobjective optimization technique. Since close proximity maneuvers play an important role in orbital servicing missions, the entire GNC system has been integrated and tested at a hardware-in-the-loop (HIL) rendezvous and docking simulator known as European Proximity Operations Simulator (EPOS). During the test campaign at EPOS facility, a visual camera has been used to provide the necessary measurements for calculating the relative position with respect to the target satellite during closed-loop simulations. In addition, two different configurations of spacecraft control have been considered in this paper: a thruster reaction control system and a mixed actuators mode which includes thrusters, reaction wheels, and magnetic torqrods. At EPOS, results of HIL closed-loop tests have demonstrated that a safe and stable rendezvous approach can be achieved with the proposed GNC loop.

  19. Space Shuttle Guidance, Navigation, and Rendezvous Knowledge Capture Reports. Revision 1

    Science.gov (United States)

    Goodman, John L.

    2011-01-01

    This document is a catalog and readers guide to lessons learned, experience, and technical history reports, as well as compilation volumes prepared by United Space Alliance personnel for the NASA/Johnson Space Center (JSC) Flight Dynamics Division.1 It is intended to make it easier for future generations of engineers to locate knowledge capture documentation from the Shuttle Program. The first chapter covers observations on documentation quality and research challenges encountered during the Space Shuttle and Orion programs. The second chapter covers the knowledge capture approach used to create many of the reports covered in this document. These chapters are intended to provide future flight programs with insight that could be used to formulate knowledge capture and management strategies. The following chapters contain descriptions of each knowledge capture report. The majority of the reports concern the Space Shuttle. Three are included that were written in support of the Orion Program. Most of the reports were written from the years 2001 to 2011. Lessons learned reports concern primarily the shuttle Global Positioning System (GPS) upgrade and the knowledge capture process. Experience reports on navigation and rendezvous provide examples of how challenges were overcome and how best practices were identified and applied. Some reports are of a more technical history nature covering navigation and rendezvous. They provide an overview of mission activities and the evolution of operations concepts and trajectory design. The lessons learned, experience, and history reports would be considered secondary sources by historians and archivists.

  20. Inverse simulation system for evaluating handling qualities during rendezvous and docking

    Science.gov (United States)

    Zhou, Wanmeng; Wang, Hua; Thomson, Douglas; Tang, Guojin; Zhang, Fan

    2017-08-01

    The traditional method used for handling qualities assessment of manned space vehicles is too time-consuming to meet the requirements of an increasingly fast design process. In this study, a rendezvous and docking inverse simulation system to assess the handling qualities of spacecraft is proposed using a previously developed model-predictive-control architecture. By considering the fixed discrete force of the thrusters of the system, the inverse model is constructed using the least squares estimation method with a hyper-ellipsoidal restriction, the continuous control outputs of which are subsequently dispersed by pulse width modulation with sensitivity factors introduced. The inputs in every step are deemed constant parameters, and the method could be considered as a general method for solving nominal, redundant, and insufficient inverse problems. The rendezvous and docking inverse simulation is applied to a nine-degrees-of-freedom platform, and a novel handling qualities evaluation scheme is established according to the operation precision and astronauts' workload. Finally, different nominal trajectories are scored by the inverse simulation and an established evaluation scheme. The scores can offer theoretical guidance for astronaut training and more complex operation missions.

  1. 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.

  2. Autonomous, agile micro-satellites and supporting technologies

    Energy Technology Data Exchange (ETDEWEB)

    Breitfeller, E; Dittman, M D; Gaughan, R J; Jones, M S; Kordas, J F; Ledebuhr, A G; Ng, L C; Whitehead, J C; Wilson, B

    1999-07-19

    This paper updates the on-going effort at Lawrence Livermore National Laboratory to develop autonomous, agile micro-satellites (MicroSats). The objective of this development effort is to develop MicroSats weighing only a few tens of kilograms, that are able to autonomously perform precision maneuvers and can be used telerobotically in a variety of mission modes. The required capabilities include satellite rendezvous, inspection, proximity-operations, docking, and servicing. The MicroSat carries an integrated proximity-operations sensor-suite incorporating advanced avionics. A new self-pressurizing propulsion system utilizing a miniaturized pump and non-toxic mono-propellant hydrogen peroxide was successfully tested. This system can provide a nominal 25 kg MicroSat with 200-300 m/s delta-v including a warm-gas attitude control system. The avionics is based on the latest PowerPC processor using a CompactPCI bus architecture, which is modular, high-performance and processor-independent. This leverages commercial-off-the-shelf (COTS) technologies and minimizes the effects of future changes in processors. The MicroSat software development environment uses the Vx-Works real-time operating system (RTOS) that provides a rapid development environment for integration of new software modules, allowing early integration and test. We will summarize results of recent integrated ground flight testing of our latest non-toxic pumped propulsion MicroSat testbed vehicle operated on our unique dynamic air-rail.

  3. Introduction to autonomous manipulation case study with an underwater robot, SAUVIM

    CERN Document Server

    Marani, Giacomo

    2014-01-01

    Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environment...

  4. Inherited autonomic neuropathies.

    Science.gov (United States)

    Axelrod, Felicia B; Hilz, Max J

    2003-12-01

    Inherited autonomic neuropathies are a rare group of disorders associated with sensory dysfunction. As a group they are termed the "hereditary sensory and autonomic neuropathies" (HSAN). Classification of the various autonomic and sensory disorders is ongoing. In addition to the numerical classification of four distinct forms proposed by Dyck and Ohta (1975), additional entities have been described. The best known and most intensively studied of the HSANs are familial dysautonomia (Riley-Day syndrome or HSAN type III) and congenital insensitivity to pain with anhidrosis (HSAN type IV). Diagnosis of the HSANs depends primarily on clinical examinations and specific sensory and autonomic assessments. Pathologic examinations are helpful in confirming the diagnosis and in differentiating between the different disorders. In recent years identification of specific genetic mutations for some disorders has aided diagnosis. Replacement or definitive therapies are not available for any of the disorders so that treatment remains supportive and directed toward specific symptoms.

  5. Autonomic cardiac innervation

    OpenAIRE

    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 targe...

  6. 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....

  7. Sundhedsfaglig supervision som klinisk metode

    DEFF Research Database (Denmark)

    Nordentoft, Helle Merete

    2011-01-01

    Kapitlet gennemgår og diskuterer sundhedsfaglig supervision (SFS) som metode. Formålet med kapitlet er at give læseren indsigt i og et kritisk blik på metodens muligheder og begrænsninger. Indledningsvis uddyber kapitlet den historiske baggrund for SFS og hvordan metoden udfolder sig i praksis me...... metodens fremtidige perspektiver - set i lyset af de mange nye metoder, der 'kæmper' om de samme målgrupper i vejledningslandskabet så som f.eks. coaching, debriefing og mentoring....

  8. Self-Supervised Dynamical Systems

    Science.gov (United States)

    Zak, Michail

    2003-01-01

    Some progress has been made in a continuing effort to develop mathematical models of the behaviors of multi-agent systems known in biology, economics, and sociology (e.g., systems ranging from single or a few biomolecules to many interacting higher organisms). Living systems can be characterized by nonlinear evolution of probability distributions over different possible choices of the next steps in their motions. One of the main challenges in mathematical modeling of living systems is to distinguish between random walks of purely physical origin (for instance, Brownian motions) and those of biological origin. Following a line of reasoning from prior research, it has been assumed, in the present development, that a biological random walk can be represented by a nonlinear mathematical model that represents coupled mental and motor dynamics incorporating the psychological concept of reflection or self-image. The nonlinear dynamics impart the lifelike ability to behave in ways and to exhibit patterns that depart from thermodynamic equilibrium. Reflection or self-image has traditionally been recognized as a basic element of intelligence. The nonlinear mathematical models of the present development are denoted self-supervised dynamical systems. They include (1) equations of classical dynamics, including random components caused by uncertainties in initial conditions and by Langevin forces, coupled with (2) the corresponding Liouville or Fokker-Planck equations that describe the evolutions of probability densities that represent the uncertainties. The coupling is effected by fictitious information-based forces, denoted supervising forces, composed of probability densities and functionals thereof. The equations of classical mechanics represent motor dynamics that is, dynamics in the traditional sense, signifying Newton s equations of motion. The evolution of the probability densities represents mental dynamics or self-image. Then the interaction between the physical and

  9. Supervised Object Class Colour Normalisation

    DEFF Research Database (Denmark)

    Riabchenko, Ekatarina; Lankinen, Jukka; Buch, Anders Glent;

    2013-01-01

    Colour is an important cue in many applications of computer vision and image processing, but robust usage often requires estimation of the unknown illuminant colour. Usually, to obtain images invariant to the illumination conditions under which they were taken, color normalisation is used....... In this work, we develop a such colour normalisation technique, where true colours are not important per se but where examples of same classes have photometrically consistent appearance. This is achieved by supervised estimation of a class specic canonical colour space where the examples have minimal variation...

  10. Status Quo Of Drug Supervision in China

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    @@ Drugs are a special kind of commodity used to prevent,treat and diagnose diseases.Effective supervision of drugs has a great bearing on ensuring the safe use of pharmaceuticals by consumers and on safeguarding the right to lire and health of the general public.The Chinese government has always attached great importance to supervision over drug safety,and has always been commltted to the goal of strengthening such supervision and guaranteeing public drug safety.

  11. On Training Targets for Supervised Speech Separation

    OpenAIRE

    Wang, Yuxuan; Narayanan, Arun; Wang, DeLiang

    2014-01-01

    Formulation of speech separation as a supervised learning problem has shown considerable promise. In its simplest form, a supervised learning algorithm, typically a deep neural network, is trained to learn a mapping from noisy features to a time-frequency representation of the target of interest. Traditionally, the ideal binary mask (IBM) is used as the target because of its simplicity and large speech intelligibility gains. The supervised learning framework, however, is not restricted to the...

  12. Autonomous Evolutionary Information Systems

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Traditional information systems are passive, i.e., data orknowledge is created , retrieved, modified, updated, and deleted only in response to operations issued by users or application programs, and the systems only can execute queries or t ransactions explicitly submitted by users or application programs but have no ab ility to do something actively by themselves. Unlike a traditional information system serving just as a storehouse of data or knowledge and working passively a ccording to queries or transactions explicitly issued by users and application p rograms, an autonomous evolutionary information system serves as an autonomous a nd evolutionary partner of its users that discovers new knowledge from its datab ase or knowledge-base autonomously, cooperates with its users in solving proble m s actively by providing the users with advices, and has a certain mechanism to i mprove its own state of “knowing” and ability of “working”. This paper semi nall y defines what is an autonomous evolutionary information system, explain why aut onomous evolutionary information systems are needed, and presents some new issue s, fundamental considerations, and research directions in design and development of autonomous evolutionary information systems.

  13. Autonomic disturbances in narcolepsy.

    Science.gov (United States)

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

    2011-06-01

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

  14. Supervised Discrete Hashing With Relaxation.

    Science.gov (United States)

    Gui, Jie; Liu, Tongliang; Sun, Zhenan; Tao, Dacheng; Tan, Tieniu

    2016-12-29

    Data-dependent hashing has recently attracted attention due to being able to support efficient retrieval and storage of high-dimensional data, such as documents, images, and videos. In this paper, we propose a novel learning-based hashing method called ''supervised discrete hashing with relaxation'' (SDHR) based on ''supervised discrete hashing'' (SDH). SDH uses ordinary least squares regression and traditional zero-one matrix encoding of class label information as the regression target (code words), thus fixing the regression target. In SDHR, the regression target is instead optimized. The optimized regression target matrix satisfies a large margin constraint for correct classification of each example. Compared with SDH, which uses the traditional zero-one matrix, SDHR utilizes the learned regression target matrix and, therefore, more accurately measures the classification error of the regression model and is more flexible. As expected, SDHR generally outperforms SDH. Experimental results on two large-scale image data sets (CIFAR-10 and MNIST) and a large-scale and challenging face data set (FRGC) demonstrate the effectiveness and efficiency of SDHR.

  15. Semi-supervised clustering methods

    Science.gov (United States)

    Bair, Eric

    2013-01-01

    Cluster analysis methods seek to partition a data set into homogeneous subgroups. It is useful in a wide variety of applications, including document processing and modern genetics. Conventional clustering methods are unsupervised, meaning that there is no outcome variable nor is anything known about the relationship between the observations in the data set. In many situations, however, information about the clusters is available in addition to the values of the features. For example, the cluster labels of some observations may be known, or certain observations may be known to belong to the same cluster. In other cases, one may wish to identify clusters that are associated with a particular outcome variable. This review describes several clustering algorithms (known as “semi-supervised clustering” methods) that can be applied in these situations. The majority of these methods are modifications of the popular k-means clustering method, and several of them will be described in detail. A brief description of some other semi-supervised clustering algorithms is also provided. PMID:24729830

  16. Clinical supervision by consultants in teaching hospitals.

    Science.gov (United States)

    Hore, Craig T; Lancashire, William; Fassett, Robert G

    2009-08-17

    Clinical supervision is a vital part of postgraduate medical education. Without it, trainees may not learn effectively from their experiences; this may lead to acceptance by registrars and junior doctors of lower standards of care. Currently, supervision is provided by consultants to registrars and junior doctors, and by registrars to junior doctors. Evidence suggests that the clinical supervision provided to postgraduate doctors is inadequate. Registrars and juniors doctors have the right to expect supervision in the workplace. Impediments to the provision of clinical supervision include competing demands of hospital service provision on trainees and supervisors, lack of clarity of job descriptions, private versus public commitments of supervisors and lack of interest. Supervisors should be trained in the process of supervision and provided with the time and resources to conduct it. Those being supervised should be provided with clear expectations of the process. We need to create and develop systems, environments and cultures that support high standards of conduct and effective clinical supervision. These systems must ensure the right to supervision, feedback, support, decent working conditions and respect for both trainees and their supervisors.

  17. Determination of Eros Physical Parameters for Near Earth Asteroid Rendezvous Orbit Phase Navigation

    Science.gov (United States)

    Miller, J. K.; Antreasian, P. J.; Georgini, J.; Owen, W. M.; Williams, B. G.; Yeomans, D. K.

    1995-01-01

    Navigation of the orbit phase of the Near Earth steroid Rendezvous (NEAR) mission will re,quire determination of certain physical parameters describing the size, shape, gravity field, attitude and inertial properties of Eros. Prior to launch, little was known about Eros except for its orbit which could be determined with high precision from ground based telescope observations. Radar bounce and light curve data provided a rough estimate of Eros shape and a fairly good estimate of the pole, prime meridian and spin rate. However, the determination of the NEAR spacecraft orbit requires a high precision model of Eros's physical parameters and the ground based data provides only marginal a priori information. Eros is the principal source of perturbations of the spacecraft's trajectory and the principal source of data for determining the orbit. The initial orbit determination strategy is therefore concerned with developing a precise model of Eros. The original plan for Eros orbital operations was to execute a series of rendezvous burns beginning on December 20,1998 and insert into a close Eros orbit in January 1999. As a result of an unplanned termination of the rendezvous burn on December 20, 1998, the NEAR spacecraft continued on its high velocity approach trajectory and passed within 3900 km of Eros on December 23, 1998. The planned rendezvous burn was delayed until January 3, 1999 which resulted in the spacecraft being placed on a trajectory that slowly returns to Eros with a subsequent delay of close Eros orbital operations until February 2001. The flyby of Eros provided a brief glimpse and allowed for a crude estimate of the pole, prime meridian and mass of Eros. More importantly for navigation, orbit determination software was executed in the landmark tracking mode to determine the spacecraft orbit and a preliminary shape and landmark data base has been obtained. The flyby also provided an opportunity to test orbit determination operational procedures that will be

  18. Observer-Based Stabilization of Spacecraft Rendezvous with Variable Sampling and Sensor Nonlinearity

    Directory of Open Access Journals (Sweden)

    Zhuoshi Li

    2013-01-01

    Full Text Available This paper addresses the observer-based control problem of spacecraft rendezvous with nonuniform sampling period. The relative dynamic model is based on the classical Clohessy-Wiltshire equation, and sensor nonlinearity and sampling are considered together in a unified framework. The purpose of this paper is to perform an observer-based controller synthesis by using sampled and saturated output measurements, such that the resulting closed-loop system is exponentially stable. A time-dependent Lyapunov functional is developed which depends on time and the upper bound of the sampling period and also does not grow along the input update times. The controller design problem is solved in terms of the linear matrix inequality method, and the obtained results are less conservative than using the traditional Lyapunov functionals. Finally, a numerical simulation example is built to show the validity of the developed sampled-data control strategy.

  19. Robust adaptive backstepping neural networks control for spacecraft rendezvous and docking with input saturation.

    Science.gov (United States)

    Xia, Kewei; Huo, Wei

    2016-05-01

    This paper presents a robust adaptive neural networks control strategy for spacecraft rendezvous and docking with the coupled position and attitude dynamics under input saturation. Backstepping technique is applied to design a relative attitude controller and a relative position controller, respectively. The dynamics uncertainties are approximated by radial basis function neural networks (RBFNNs). A novel switching controller consists of an adaptive neural networks controller dominating in its active region combined with an extra robust controller to avoid invalidation of the RBFNNs destroying stability of the system outside the neural active region. An auxiliary signal is introduced to compensate the input saturation with anti-windup technique, and a command filter is employed to approximate derivative of the virtual control in the backstepping procedure. Globally uniformly ultimately bounded of the relative states is proved via Lyapunov theory. Simulation example demonstrates effectiveness of the proposed control scheme.

  20. Autonomous Deep-Space Optical Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Every one of the future exploration architectures being considered by NASA have, at their core, the need to rendezvous and dock with other vehicles or bodies. ...

  1. Autonomous surveillance for biosecurity.

    Science.gov (United States)

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

    2015-04-01

    The global movement of people and goods has increased the risk of biosecurity threats and their potential to incur large economic, social, and environmental costs. Conventional manual biosecurity surveillance methods are limited by their scalability in space and time. This article focuses on autonomous surveillance systems, comprising sensor networks, robots, and intelligent algorithms, and their applicability to biosecurity threats. We discuss the spatial and temporal attributes of autonomous surveillance technologies and map them to three broad categories of biosecurity threat: (i) vector-borne diseases; (ii) plant pests; and (iii) aquatic pests. Our discussion reveals a broad range of opportunities to serve biosecurity needs through autonomous surveillance. Crown Copyright © 2015. Published by Elsevier Ltd. All rights reserved.

  2. Diversity Competent Group Work Supervision: An Application of the Supervision of Group Work Model (SGW)

    Science.gov (United States)

    Okech, Jane E. Atieno; Rubel, Deborah

    2007-01-01

    This article emphasizes the need for concrete descriptions of supervision to promote diversity-competent group work and presents an application of the supervision of group work model (SGW) to this end. The SGW, a supervision model adapted from the discrimination model, is uniquely suited for promoting diversity competence in group work, since it…

  3. Diversity Competent Group Work Supervision: An Application of the Supervision of Group Work Model (SGW)

    Science.gov (United States)

    Okech, Jane E. Atieno; Rubel, Deborah

    2007-01-01

    This article emphasizes the need for concrete descriptions of supervision to promote diversity-competent group work and presents an application of the supervision of group work model (SGW) to this end. The SGW, a supervision model adapted from the discrimination model, is uniquely suited for promoting diversity competence in group work, since it…

  4. Implementability of Instructional Supervision as a Contemporary Educational Supervision Model in Turkish Education System

    OpenAIRE

    2012-01-01

    In this study, implementability of instructional supervision as one of contemporary educational supervision models in Turkish Education System was evaluated. Instructional supervision which aims to develop instructional processes and increase the quality of student learning based on observation of classroom activities requires collaboration among supervisors and teachers. In this literature review, significant problems have been detected due to structural organization, structural and control-...

  5. Autonomous electrochromic assembly

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-03-10

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

  6. Simple Autonomous Chaotic Circuits

    Science.gov (United States)

    Piper, Jessica; Sprott, J.

    2010-03-01

    Over the last several decades, numerous electronic circuits exhibiting chaos have been proposed. Non-autonomous circuits with as few as two components have been developed. However, the operation of such circuits relies on the non-ideal behavior of the devices used, and therefore the circuit equations can be quite complex. In this paper, we present two simple autonomous chaotic circuits using only opamps and linear passive components. The circuits each use one opamp as a comparator, to provide a signum nonlinearity. The chaotic behavior is robust, and independent of nonlinearities in the passive components. Moreover, the circuit equations are among the algebraically simplest chaotic systems yet constructed.

  7. Empirical study of supervised gene screening

    Directory of Open Access Journals (Sweden)

    Ma Shuangge

    2006-12-01

    Full Text Available Abstract Background Microarray studies provide a way of linking variations of phenotypes with their genetic causations. Constructing predictive models using high dimensional microarray measurements usually consists of three steps: (1 unsupervised gene screening; (2 supervised gene screening; and (3 statistical model building. Supervised gene screening based on marginal gene ranking is commonly used to reduce the number of genes in the model building. Various simple statistics, such as t-statistic or signal to noise ratio, have been used to rank genes in the supervised screening. Despite of its extensive usage, statistical study of supervised gene screening remains scarce. Our study is partly motivated by the differences in gene discovery results caused by using different supervised gene screening methods. Results We investigate concordance and reproducibility of supervised gene screening based on eight commonly used marginal statistics. Concordance is assessed by the relative fractions of overlaps between top ranked genes screened using different marginal statistics. We propose a Bootstrap Reproducibility Index, which measures reproducibility of individual genes under the supervised screening. Empirical studies are based on four public microarray data. We consider the cases where the top 20%, 40% and 60% genes are screened. Conclusion From a gene discovery point of view, the effect of supervised gene screening based on different marginal statistics cannot be ignored. Empirical studies show that (1 genes passed different supervised screenings may be considerably different; (2 concordance may vary, depending on the underlying data structure and percentage of selected genes; (3 evaluated with the Bootstrap Reproducibility Index, genes passed supervised screenings are only moderately reproducible; and (4 concordance cannot be improved by supervised screening based on reproducibility.

  8. 19 CFR 146.4 - Operator responsibility and supervision.

    Science.gov (United States)

    2010-04-01

    ... 19 Customs Duties 2 2010-04-01 2010-04-01 false Operator responsibility and supervision. 146.4... and supervision. (a) Supervision. The operator shall supervise all admissions, transfers, removals... conditions of storage in the zone as required by law and regulations. Supervision by the operator shall...

  9. A Summary of the Rendezvous, Proximity Operations, Docking, and Undocking (RPODU) Lessons Learned from the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) Demonstration System Mission

    Science.gov (United States)

    Dennehy, Cornelius J.; Carpenter, James R.

    2011-01-01

    The Guidance, Navigation, and Control (GN&C) Technical Discipline Team (TDT) sponsored Dr. J. Russell Carpenter, a Navigation and Rendezvous Subject Matter Expert (SME) from NASA's Goddard Space Flight Center (GSFC), to provide support to the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) rendezvous and docking flight test that was conducted in 2007. When that DARPA OE mission was completed, Mr. Neil Dennehy, NASA Technical Fellow for GN&C, requested Dr. Carpenter document his findings (lessons learned) and recommendations for future rendezvous missions resulting from his OE support experience. This report captures lessons specifically from anomalies that occurred during one of OE's unmated operations.

  10. 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 ...

  11. Design and realization of an autonomous solar system

    Science.gov (United States)

    Gaga, A.; Diouri, O.; Es-sbai, N.; Errahimi, F.

    2017-03-01

    The aim of this work is the design and realization of an autonomous solar system, with MPPT control, a regulator charge/discharge of batteries, an H-bridge multi-level inverter with acquisition system and supervising based on a microcontroller. The proposed approach is based on developing a software platform in the LabVIEW environment which gives the system a flexible structure for controlling, monitoring and supervising the whole system in real time while providing power maximization and best quality of energy conversion from DC to AC power. The reliability of the proposed solar system is validated by the simulation results on PowerSim and experimental results achieved with a solar panel, a Lead acid battery, solar regulator and an H-bridge cascaded topology of single-phase inverter.

  12. A Gestalt Approach to Group Supervision

    Science.gov (United States)

    Melnick, Joseph; Fall, Marijane

    2008-01-01

    The authors define and then describe the practice of group supervision. The role of creative experiment in assisting supervisees who perceive themselves as confused, moving in circles, or immobilized is described. Fictional case examples illustrate these issues in supervision. The authors posit the "good fit" of Gestalt theory and techniques with…

  13. 19 CFR 146.3 - Customs supervision.

    Science.gov (United States)

    2010-04-01

    ... 19 Customs Duties 2 2010-04-01 2010-04-01 false Customs supervision. 146.3 Section 146.3 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE TREASURY (CONTINUED) FOREIGN TRADE ZONES General Provisions § 146.3 Customs supervision. (a) Assignment of...

  14. 27 CFR 70.609 - Supervision.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 2 2010-04-01 2010-04-01 false Supervision. 70.609... From Disaster, Vandalism, or Malicious Mischief Destruction of Liquors § 70.609 Supervision. When... official or made unmarketable, the liquors shall be destroyed by suitable means under...

  15. 28 CFR 551.32 - Staff supervision.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Staff supervision. 551.32 Section 551.32 Judicial Administration BUREAU OF PRISONS, DEPARTMENT OF JUSTICE INSTITUTIONAL MANAGEMENT MISCELLANEOUS Inmate Organizations § 551.32 Staff supervision. (a) The Warden shall appoint a staff member as...

  16. 17 CFR 166.3 - Supervision.

    Science.gov (United States)

    2010-04-01

    ... 17 Commodity and Securities Exchanges 1 2010-04-01 2010-04-01 false Supervision. 166.3 Section 166.3 Commodity and Securities Exchanges COMMODITY FUTURES TRADING COMMISSION CUSTOMER PROTECTION RULES § 166.3 Supervision. Each Commission registrant, except an associated person who has no...

  17. 9 CFR 146.10 - Supervision.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 1 2010-01-01 2010-01-01 false Supervision. 146.10 Section 146.10 Animals and Animal Products ANIMAL AND PLANT HEALTH INSPECTION SERVICE, DEPARTMENT OF AGRICULTURE... Supervision. (a) The Official State Agency may designate qualified persons as Authorized Agents to do...

  18. 36 CFR 25.3 - Supervision; suspensions.

    Science.gov (United States)

    2010-07-01

    ... 36 Parks, Forests, and Public Property 1 2010-07-01 2010-07-01 false Supervision; suspensions. 25.3 Section 25.3 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF THE INTERIOR NATIONAL MILITARY PARKS; LICENSED GUIDE SERVICE REGULATIONS § 25.3 Supervision; suspensions. (a) The...

  19. The real relationship in psychotherapy supervision.

    Science.gov (United States)

    Watkins, C Edward

    2011-01-01

    While the real relationship has long been addressed in psychoanalysis and psychotherapy, the matter of the real relationship in psychotherapy supervision has yet to receive any attention. Ample supervisory focus has indeed been given to the working alliance and transference-countertransference configuration (including parallel processes), but after a century of psychotherapy supervision, any mention whatsoever of real relationship phenomena is absent. In this paper, the following hypotheses are proposed: The real relationship (1) is a crucial component of the supervision relationship that has transtheoretical implications; (2) exists from the moment supervision begins until its end; (3) is the forever silent yet forever substantive contributor to supervisory process and outcome; (4) exerts a significant impact on (a) the development and establishment of the supervisory working alliance and (b) the unfolding and eventual utilization of the transference-countertransference experience in the supervisory situation; (5) consists of at least two dimensions in supervision--realism and genuineness--that vary along valence and magnitude continua (building on the works of Greenson and Gelso), and (6) deserves a place of eminence equal to the working alliance and transference-countertransference configuration if supervision theory, practice, and research are to be most fully informed. The possibility of using recent real relationship research in psychotherapy as a prototype to inform future research in supervision is presented, and two case examples are provided to illustrate the seeming power of real relationship phenomena in psychotherapy supervision.

  20. 21 CFR 640.62 - Medical supervision.

    Science.gov (United States)

    2010-04-01

    ... 21 Food and Drugs 7 2010-04-01 2010-04-01 false Medical supervision. 640.62 Section 640.62 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) BIOLOGICS ADDITIONAL STANDARDS FOR HUMAN BLOOD AND BLOOD PRODUCTS Source Plasma § 640.62 Medical supervision....

  1. Teacher Supervision Practices and Principals' Characteristics

    Science.gov (United States)

    April, Daniel; Bouchamma, Yamina

    2015-01-01

    A questionnaire was used to determine the individual and collective teacher supervision practices of school principals and vice-principals in Québec (n = 39) who participated in a research-action study on pedagogical supervision. These practices were then analyzed in terms of the principals' sociodemographic and socioprofessional characteristics…

  2. 32 CFR 552.65 - Command supervision.

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 3 2010-07-01 2010-07-01 true Command supervision. 552.65 Section 552.65 National Defense Department of Defense (Continued) DEPARTMENT OF THE ARMY MILITARY RESERVATIONS AND....65 Command supervision. (a) All insurance business conducted on Army installation will be...

  3. 9 CFR 145.11 - Supervision.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 1 2010-01-01 2010-01-01 false Supervision. 145.11 Section 145.11 Animals and Animal Products ANIMAL AND PLANT HEALTH INSPECTION SERVICE, DEPARTMENT OF AGRICULTURE... Supervision. (a) The Official State Agency may designate qualified persons as Authorized Agents to do...

  4. Experiencing Higher Degree Research Supervision as Teaching

    Science.gov (United States)

    Bruce, Christine; Stoodley, Ian

    2013-01-01

    This article describes higher degree research supervisors' experiences of supervision as teaching. While research education is considered central to the higher degree research experience, comparatively little is known to date of the teaching lenses adopted by supervisors as they go about their supervision. We worked with 35 supervisors engaged in…

  5. The Agile Approach with Doctoral Dissertation Supervision

    Science.gov (United States)

    Tengberg, Lars Göran Wallgren

    2015-01-01

    Several research findings conclude that many doctoral students fail to complete their studies within the allowable time frame, in part because of problems related to the research and supervision process. Surveys show that most doctoral students are generally satisfied with their dissertation supervision. However, these surveys also reveal some…

  6. Applying Services Marketing Principles to Postgraduate Supervision

    Science.gov (United States)

    Dann, Stephen

    2008-01-01

    Purpose: The paper aims to describe the application of two key service quality frameworks for improving the delivery of postgraduate research supervision. The services quality frameworks are used to identify key areas of overlap between services marketing practice and postgraduate supervision that can be used by the supervisor to improve research…

  7. Applying Services Marketing Principles to Postgraduate Supervision

    Science.gov (United States)

    Dann, Stephen

    2008-01-01

    Purpose: The paper aims to describe the application of two key service quality frameworks for improving the delivery of postgraduate research supervision. The services quality frameworks are used to identify key areas of overlap between services marketing practice and postgraduate supervision that can be used by the supervisor to improve research…

  8. The School Counselor, the Cactus, and Supervision

    Science.gov (United States)

    Boyd, John D.; Walter, Paul B.

    1975-01-01

    The authors suggest that counselor supervision is a viable way to assist school counselors in dealing with lack of professional development opportunities. Supervision can facilitate the counselor's personal and professional development and can promote counselor competencies, accountability and the improvement of guidance services and programs. (SE)

  9. A Gestalt Approach to Group Supervision

    Science.gov (United States)

    Melnick, Joseph; Fall, Marijane

    2008-01-01

    The authors define and then describe the practice of group supervision. The role of creative experiment in assisting supervisees who perceive themselves as confused, moving in circles, or immobilized is described. Fictional case examples illustrate these issues in supervision. The authors posit the "good fit" of Gestalt theory and techniques with…

  10. State Supervision and Control of Radiation Protection

    CERN Document Server

    2001-01-01

    Radiation Protection Centre is carrying state supervision and control of radiation protection. The main objective of state supervision and control of radiation protection is assessing how licensees comply with requirements of the appropriate legislation and enforcement. Summary of inspections conducted in 1999-2001 is presented.

  11. State Radiation Protection Supervision and Control

    CERN Document Server

    2002-01-01

    Radiation Protection Centre is carrying state supervision and control of radiation protection. The main objective of state supervision and control of radiation protection is assessing how licensees comply with requirements of the appropriate legislation and enforcement. Summary of inspections conducted in 2002 is presented.

  12. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

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

  13. Autonomous Hexapod Spider Robot

    DEFF Research Database (Denmark)

    Pandey, Nisha; Pandey, Bishwajeet; Hussain, Dil muhammed Akbar

    2017-01-01

    Robotics world is changing very rapidly in today’s scenario. One of its unique applications is hexapod robots (walking leg robots). These types of robots can walk on uneven surfaces and can be used for spying purpose in various forms of industries. This paper represents the autonomous feature of ...

  14. Autonomous component carrier selection

    DEFF Research Database (Denmark)

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

    2009-01-01

    in local areas, basing our study case on LTE-Advanced. We present extensive network simulation results to demonstrate that a simple and robust interference management scheme, called autonomous component carrier selection allows each cell to select the most attractive frequency configuration; improving...

  15. Autonomous Forest Fire Detection

    NARCIS (Netherlands)

    Breejen, E. den; Breuers, M.; Cremer, F.; Kemp, R.A.W.; Roos, M.; Schutte, K.; Vries, J.S. de

    1998-01-01

    Forest fire detection is a very important issue in the pre-suppression process. Timely detection allows the suppression units to reach the fire in its initial stages and this will reduce the suppression costs considerably. The autonomous forest fire detection principle is based on temporal contrast

  16. Toward a mobile autonomous robotic system for Mars exploration

    Science.gov (United States)

    Arena, P.; Di Giamberardino, P.; Fortuna, L.; La Gala, F.; Monaco, S.; Muscato, G.; Rizzo, A.; Ronchini, R.

    2004-01-01

    The paper deals with the results obtained up to now in the design and realization of mobile platforms, wheeled and legged ones, for autonomous deployment in unknown and hostile environments: a work developed in the framework of a project supported by the Italian Space Agency. The paper is focused on the description of the hierarchical architecture adopted for the planning, the supervision and the control of their mobility. Experimental results validate the solutions proposed, evidencing the capabilities of the platforms to explore environments in presence of irregular ground shape and obstacles of different dimensions.

  17. A Hybrid Approach for Fault Detection in Autonomous Physical Agents

    Science.gov (United States)

    2014-05-01

    brea nexpected beh otion as a heu reak – the SF FDD. Supervised m aults, and poten ffline static fau lso computati upervised meth omain of phys...unknown fau modeled analy modeled outpu in the domain o the behavior o t of the physica al. [6] use a mo control softw s utilized for servers that...different s listic and cann proaches, supe a natural appea ata driven app knowledge-ba lied and a dec ression of a fau tations and thu autonomous ph in

  18. Modulation of cardiac autonomic balance with adjuvant yoga therapy in patients with refractory epilepsy.

    Science.gov (United States)

    Sathyaprabha, T N; Satishchandra, P; Pradhan, C; Sinha, S; Kaveri, B; Thennarasu, K; Murthy, B T C; Raju, T R

    2008-02-01

    The practice of yoga regulates body physiology through control of posture, breathing, and meditation. Effects of yoga on autonomic functions of patients with refractory epilepsy, as quantified by standardized autonomic function tests (AFTs), were determined. The yoga group (n=18) received supervised training in yoga, and the exercise group (n=16) practiced simple routine exercises. AFTs were repeated after 10 weeks of daily sessions. Data were compared with those of healthy volunteers (n=142). The yoga group showed significant improvement in parasympathetic parameters and a decrease in seizure frequency scores. There was no improvement in blood pressure parameters in either group. Two patients in the yoga group achieved normal autonomic functions at the end of 10 weeks of therapy, whereas there were no changes in the exercise group. The data suggest that yoga may have a role as an adjuvant therapy in the management of autonomic dysfunction in patients with refractory epilepsy.

  19. A guidance law for UAV autonomous aerial refueling based on the iterative computation method

    Directory of Open Access Journals (Sweden)

    Luo Delin

    2014-08-01

    Full Text Available The rendezvous and formation problem is a significant part for the unmanned aerial vehicle (UAV autonomous aerial refueling (AAR technique. It can be divided into two major phases: the long-range guidance phase and the formation phase. In this paper, an iterative computation guidance law (ICGL is proposed to compute a series of state variables to get the solution of a control variable for a UAV conducting rendezvous with a tanker in AAR. The proposed method can make the control variable converge to zero when the tanker and the UAV receiver come to a formation flight eventually. For the long-range guidance phase, the ICGL divides it into two sub-phases: the correction sub-phase and the guidance sub-phase. The two sub-phases share the same iterative process. As for the formation phase, a velocity coordinate system is created by which control accelerations are designed to make the speed of the UAV consistent with that of the tanker. The simulation results demonstrate that the proposed ICGL is effective and robust against wind disturbance.

  20. A guidance law for UAV autonomous aerial refueling based on the iterative computation method

    Institute of Scientific and Technical Information of China (English)

    Luo Delin; Xie Rongzeng; Duan Haibin

    2014-01-01

    The rendezvous and formation problem is a significant part for the unmanned aerial vehicle (UAV) autonomous aerial refueling (AAR) technique. It can be divided into two major phases: the long-range guidance phase and the formation phase. In this paper, an iterative computation guidance law (ICGL) is proposed to compute a series of state variables to get the solu-tion of a control variable for a UAV conducting rendezvous with a tanker in AAR. The proposed method can make the control variable converge to zero when the tanker and the UAV receiver come to a formation flight eventually. For the long-range guidance phase, the ICGL divides it into two sub-phases: the correction sub-phase and the guidance sub-phase. The two sub-phases share the same iterative process. As for the formation phase, a velocity coordinate system is created by which control accelerations are designed to make the speed of the UAV consistent with that of the tanker. The simulation results demonstrate that the proposed ICGL is effective and robust against wind disturbance.

  1. Is it possible to strengthen psychiatric nursing staff's clinical supervision?

    DEFF Research Database (Denmark)

    Gonge, Henrik; Buus, Niels

    2015-01-01

    AIM: To test the effects of a meta-supervision intervention in terms of participation, effectiveness and benefits of clinical supervision of psychiatric nursing staff. BACKGROUND: Clinical supervision is regarded as a central component in developing mental health nursing practices, but the evidence...... on individuals or wards already actively engaged in clinical supervision, which suggested that individuals and wards without well-established supervision practices may require more comprehensive interventions targeting individual and organizational barriers to clinical supervision....

  2. Feature-Based Localization in Sonar-Equipped Autonomous Mobile Robots Through Hough Transform and Unsupervised Learning Network,

    Science.gov (United States)

    1998-06-01

    research has focused on the development of autonomous mobile robots - robots that can move about without human supervision. This brings with it several...around it? Various methods of localization in mobile robots have been explored. Most of these methods, however, assume some a priori knowledge of the

  3. Supervision over technological and measurement processes

    Directory of Open Access Journals (Sweden)

    T. Karkoszka

    2011-01-01

    Full Text Available Purpose: of the paper has been an attainment of the thesis: “If there is something we can define, we can measure it. If there is something we can measure, we can analyse that. If there is something we can analyse, we can supervise that. If there is something we can supervise, we can improve that [1]”.Design/methodology/approach: used for the analysis has covered proposition of the supervision over measurement processes system that can be applied in quality assurance.Findings: of analysis are as follows: system of supervision over measurement processes performed (in compliance with real, realised in an organisation processes, can assure the achievement of the accurate and reliable results that, being the base of any feedback in any process, have fundamental meaning in making appropriate decisions.Practical implications: can be applied in case of any organisation, wanting to demonstrate the conformity of processes in the range of requirements that apply to: products, workers, natural environment and others by supervision over measurement equipment.Originality/value: of the presented paper has been obtained by working out the design of supervision over measurement system, also measurement system capability, which should be supplement for supervision over processes system in the assurance of processes and products quality.

  4. Providing effective supervision in clinical neuropsychology.

    Science.gov (United States)

    Stucky, Kirk J; Bush, Shane; Donders, Jacobus

    2010-01-01

    A specialty like clinical neuropsychology is shaped by its selection of trainees, educational standards, expected competencies, and the structure of its training programs. The development of individual competency in this specialty is dependent to a considerable degree on the provision of competent supervision to its trainees. In clinical neuropsychology, as in other areas of professional health-service psychology, supervision is the most frequently used method for teaching a variety of skills, including assessment, report writing, differential diagnosis, and treatment. Although much has been written about the provision of quality supervision in clinical and counseling psychology, very little published guidance is available regarding the teaching and provision of supervision in clinical neuropsychology. The primary focus of this article is to provide a framework and guidance for the development of suggested competency standards for training of neuropsychological supervisors, particularly at the residency level. In this paper we outline important components of supervision for neuropsychology trainees and suggest ways in which clinicians can prepare for supervisory roles. Similar to Falender and Shafranske (2004), we propose a competency-based approach to supervision that advocates for a science-informed, formalized, and objective process that clearly delineates the competencies required for good supervisory practice. As much as possible, supervisory competencies are related to foundational and functional competencies in professional psychology, as well as recent legislative initiatives mandating training in supervision. It is our hope that this article will foster further discussion regarding this complex topic, and eventually enhance training in clinical neuropsychology.

  5. Resource-Optimal Planning For An Autonomous Planetary Vehicle

    Directory of Open Access Journals (Sweden)

    Giuseppe Della Penna

    2010-07-01

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

  6. Autonomous robotic operations for on-orbit satellite servicing

    Science.gov (United States)

    Ogilvie, Andrew; Allport, Justin; Hannah, Michael; Lymer, John

    2008-04-01

    The Orbital Express Demonstration System (OEDS) flight test successfully demonstrated technologies required to autonomously service satellites on-orbit. The mission's integrated robotics solution, the Orbital Express Demonstration Manipulator System (OEDMS) developed by MDA, performed critical flight test operations. The OEDMS comprised a six-jointed robotic manipulator arm and its avionics, non-proprietary servicing and ORU (Orbital Replacement Unit) interfaces, a vision and arm control system for autonomous satellite capture, and a suite of Ground Segment and Flight Segment software allowing script generation and execution under supervised or full autonomy. The arm was mounted on ASTRO, the servicer spacecraft developed by Boeing. The NextSat, developed by Ball Aerospace, served as the client satellite. The OEDMS demonstrated two key goals of the OEDS flight test: autonomous free-flyer capture and berthing of a client satellite, and autonomous transfer of ORUs from servicer to client and back. The paper provides a description of the OEDMS and the key operations it performed.

  7. Evaluation of GPS position and attitude determination for automated rendezvous and docking missions. M.S. Thesis

    Science.gov (United States)

    Diprinzio, Marc D.; Tolson, Robert H.

    1994-01-01

    The use of the Global Positioning System for position and attitude determination is evaluated for an automated rendezvous and docking mission. The typical mission scenario involves the chaser docking with the target for resupply or repair purposes, and is divided into three sections. During the homing phase, the chaser utilizes coarse acquisition pseudorange data to approach the target; guidance laws for this stage are investigated. In the second phase, differential carrier phase positioning is utilized. The chaser must maintain a quasiconstant distance from the target, in order to resolve the initial integer ambiguities. Once the ambiguities are determined, the terminal phase is entered, and the rendezvous is completed with continuous carrier phase tracking. Attitude knowledge is maintained in all phases through the use of the carrier phase observable. A Kalman filter is utilized to estimate all states from the noisy measurement data. The effects of selective availability and cycle slips are also investigated.

  8. Acute biliary pancreatitis and cholecystolithiasis in a child:one time treatment with laparoendoscopic "Rendez-vous" procedure

    Institute of Scientific and Technical Information of China (English)

    Gaetano La Greca; Michele Di Blasi; Francesco Barbagallo; Manuela Di Stefano; Saverio Latteri; Domenico Russello

    2006-01-01

    Acute biliary pancreatitis (ABP) is rare in childhood and endoscopic sphincterotomy should be avoided in the child due to the risk of both early and late complications but, when necessary, the optimal timing between endoscopic procedure and cholecystectomy is still uncertain.A nine years old child with acute biliary pancreatitis underwent successfull laparo-endoscopic "Rendez-Vous" procedure in which endoscopic drainage of the common bile duct and laparoscopic cholecystectomy were performed simultaneously. This is the first case reported of laparo-endoscopic Rendez-Vous in a child. The excellent outcome of this patient and the review of the literature concerning other available options for the treatment of such cases suggest that this procedure offers great advantages, especially in children, of reducing the required number of treatments, the risk of ineffectiveness, the number of anaesthesia, the length of hospital stay and the risk of iatrogenic morbidity.

  9. Mobile Autonomous Humanoid Assistant

    Science.gov (United States)

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

    2004-01-01

    A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

  10. Autonomous robotic sweeper

    OpenAIRE

    Kržišnik, Domen

    2015-01-01

    There is already a wide range of personal/domestic robots on the market capable of performing various tasks. We haven't however been able to find any commercially available robots designed for effectively performing the task of backyard sweeping. This thesis presents the process and end result of planning, assembly and programming of an autonomous robot, capable of performing the above mentioned task. We first analyze robots with similar functions, including robotic vacuum cleaners and lawn m...

  11. Autonomous Undersea Observations

    Science.gov (United States)

    2016-06-13

    less expensive sensor systems for a variety of applications, including measurement of physical characteristics of the ocean, threat detection, and...multiple autonomous environmental sensors within an acoustic modem-based infrastructure capable of communicating to and from the sensors and to and...networks, and telesonar with high speed platforms. This effort is concentrating on the development and demonstration of the two modem- based sensors . We

  12. Trigeminal autonomic cephalalgias.

    Science.gov (United States)

    Eller, M; Goadsby, P J

    2016-01-01

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

  13. Nature's Autonomous Oscillators

    Science.gov (United States)

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

    2012-01-01

    Nonlinearity is required to produce autonomous oscillations without external time dependent source, and an example is the pendulum clock. The escapement mechanism of the clock imparts an impulse for each swing direction, which keeps the pendulum oscillating at the resonance frequency. Among nature's observed autonomous oscillators, examples are the quasi-biennial oscillation and bimonthly oscillation of the Earth atmosphere, and the 22-year solar oscillation. The oscillations have been simulated in numerical models without external time dependent source, and in Section 2 we summarize the results. Specifically, we shall discuss the nonlinearities that are involved in generating the oscillations, and the processes that produce the periodicities. In biology, insects have flight muscles, which function autonomously with wing frequencies that far exceed the animals' neural capacity; Stretch-activation of muscle contraction is the mechanism that produces the high frequency oscillation of insect flight, discussed in Section 3. The same mechanism is also invoked to explain the functioning of the cardiac muscle. In Section 4, we present a tutorial review of the cardio-vascular system, heart anatomy, and muscle cell physiology, leading up to Starling's Law of the Heart, which supports our notion that the human heart is also a nonlinear oscillator. In Section 5, we offer a broad perspective of the tenuous links between the fluid dynamical oscillators and the human heart physiology.

  14. Social constructionism and supervision: experiences of AAMFT supervisors and supervised therapists.

    Science.gov (United States)

    Hair, Heather J; Fine, Marshall

    2012-10-01

    A phenomenological research process was used to investigate the supervision experience for supervisors and therapists when supervisors use a social constructionist perspective. Participants of the one-to-one interviews were six AAMFT Approved Supervisors and six therapists providing counseling to individuals, couples and families. The findings suggest supervisors were committed to their self-identified supervision philosophy and intentionally sought out congruence between epistemology and practice. The shared experience of therapists indicates they associated desirable supervision experiences with their supervisors' social constructionist perspective. Our findings also indicated that supervisors' and therapists' understanding of social constructionism included the more controversial concepts of agency and extra-discursiveness. This research has taken an empirical step in the direction of understanding what the social constructionist supervision experience is like for supervisors and therapists. Our findings suggest a linkage between epistemology and supervision practice and a satisfaction with the supervision process. © 2012 American Association for Marriage and Family Therapy.

  15. GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

    Science.gov (United States)

    Jankovic, Marko; Paul, Jan; Kirchner, Frank

    2016-04-01

    Recent studies of the space debris population in low Earth orbit (LEO) have concluded that certain regions have already reached a critical density of objects. This will eventually lead to a cascading process called the Kessler syndrome. The time may have come to seriously consider active debris removal (ADR) missions as the only viable way of preserving the space environment for future generations. Among all objects in the current environment, the SL-8 (Kosmos 3M second stages) rocket bodies (R/Bs) are some of the most suitable targets for future robotic ADR missions. However, to date, an autonomous relative navigation to and capture of an non-cooperative target has never been performed. Therefore, there is a need for more advanced, autonomous and modular systems that can cope with uncontrolled, tumbling objects. The guidance, navigation and control (GNC) system is one of the most critical ones. The main objective of this paper is to present a preliminary concept of a modular GNC architecture that should enable a safe and fuel-efficient capture of a known but uncooperative target, such as Kosmos 3M R/B. In particular, the concept was developed having in mind the most critical part of an ADR mission, i.e. close range proximity operations, and state of the art algorithms in the field of autonomous rendezvous and docking. In the end, a brief description of the hardware in the loop (HIL) testing facility is made, foreseen for the practical evaluation of the developed architecture.

  16. Inverse simulation system for manual-controlled rendezvous and docking based on artificial neural network

    Science.gov (United States)

    Zhou, Wanmeng; Wang, Hua; Tang, Guojin; Guo, Shuai

    2016-09-01

    The time-consuming experimental method for handling qualities assessment cannot meet the increasing fast design requirements for the manned space flight. As a tool for the aircraft handling qualities research, the model-predictive-control structured inverse simulation (MPC-IS) has potential applications in the aerospace field to guide the astronauts' operations and evaluate the handling qualities more effectively. Therefore, this paper establishes MPC-IS for the manual-controlled rendezvous and docking (RVD) and proposes a novel artificial neural network inverse simulation system (ANN-IS) to further decrease the computational cost. The novel system was obtained by replacing the inverse model of MPC-IS with the artificial neural network. The optimal neural network was trained by the genetic Levenberg-Marquardt algorithm, and finally determined by the Levenberg-Marquardt algorithm. In order to validate MPC-IS and ANN-IS, the manual-controlled RVD experiments on the simulator were carried out. The comparisons between simulation results and experimental data demonstrated the validity of two systems and the high computational efficiency of ANN-IS.

  17. Handling Neighbor Discovery and Rendezvous Consistency with Weighted Quorum-Based Approach

    Directory of Open Access Journals (Sweden)

    Chung-Ming Own

    2015-09-01

    Full Text Available Neighbor discovery and the power of sensors play an important role in the formation of Wireless Sensor Networks (WSNs and mobile networks. Many asynchronous protocols based on wake-up time scheduling have been proposed to enable neighbor discovery among neighboring nodes for the energy saving, especially in the difficulty of clock synchronization. However, existing researches are divided two parts with the neighbor-discovery methods, one is the quorum-based protocols and the other is co-primality based protocols. Their distinction is on the arrangements of time slots, the former uses the quorums in the matrix, the latter adopts the numerical analysis. In our study, we propose the weighted heuristic quorum system (WQS, which is based on the quorum algorithm to eliminate redundant paths of active slots. We demonstrate the specification of our system: fewer active slots are required, the referring rate is balanced, and remaining power is considered particularly when a device maintains rendezvous with discovered neighbors. The evaluation results showed that our proposed method can effectively reschedule the active slots and save the computing time of the network system.

  18. Handling Neighbor Discovery and Rendezvous Consistency with Weighted Quorum-Based Approach.

    Science.gov (United States)

    Own, Chung-Ming; Meng, Zhaopeng; Liu, Kehan

    2015-09-03

    Neighbor discovery and the power of sensors play an important role in the formation of Wireless Sensor Networks (WSNs) and mobile networks. Many asynchronous protocols based on wake-up time scheduling have been proposed to enable neighbor discovery among neighboring nodes for the energy saving, especially in the difficulty of clock synchronization. However, existing researches are divided two parts with the neighbor-discovery methods, one is the quorum-based protocols and the other is co-primality based protocols. Their distinction is on the arrangements of time slots, the former uses the quorums in the matrix, the latter adopts the numerical analysis. In our study, we propose the weighted heuristic quorum system (WQS), which is based on the quorum algorithm to eliminate redundant paths of active slots. We demonstrate the specification of our system: fewer active slots are required, the referring rate is balanced, and remaining power is considered particularly when a device maintains rendezvous with discovered neighbors. The evaluation results showed that our proposed method can effectively reschedule the active slots and save the computing time of the network system.

  19. Mating rendezvous in monogenean gill parasites of the humbug Dascyllus aruanus (Pisces: Pomacentridae).

    Science.gov (United States)

    Lo, C M

    1999-12-01

    The gills of the humbug, Dascyllus aruanus (Pomacentridae), were infected by a monogenean genus Haliotrema at a high prevalence (83%) but with a low mean intensity (5.6 worms/fish). All the gill arches of 365 fish, caught on the fringing reef of Moorea Island (French Polynesia), were examined for parasites. Each hemibranch was divided into 12 subequal sections. Monogeneans showing microhabitat overlap were defined as couples. Hosts with low intensity of infection (fewer than 5 monogeneans per gill) were selected and couples were recorded. Among the 37 hosts harboring 2 worms on their gills, 18 fish were infected with these 2 monogeneans on the same gill side of the body; 50% (n = 9) of these harbored monogeneans within the same gill arch and 55% (n = 5) of these last fish showed individual parasites within the same section of the gill. In the case of hosts with few monogeneans (3 and 4 individuals; n = 37) on the same arch, more than 40% (n = 16) harbored worms in couples. There may be some chemical communication that allowed these monogeneans to migrate toward each other and thus enhance mating success. Mating rendezvous appears to be a more important factor than site location for these gill monogeneans.

  20. Time and Covariance Threshold Triggered Optimal Uncooperative Rendezvous Using Angles-Only Navigation

    Directory of Open Access Journals (Sweden)

    Yue You

    2017-01-01

    Full Text Available A time and covariance threshold triggered optimal maneuver planning method is proposed for orbital rendezvous using angles-only navigation (AON. In the context of Yamanaka-Ankersen orbital relative motion equations, the square root unscented Kalman filter (SRUKF AON algorithm is developed to compute the relative state estimations from a low-volume/mass, power saving, and low-cost optical/infrared camera’s observations. Multi-impulsive Hill guidance law is employed in closed-loop linear covariance analysis model, based on which the quantitative relative position robustness and relative velocity robustness index are defined. By balancing fuel consumption, relative position robustness, and relative velocity robustness, we developed a time and covariance threshold triggered two-level optimal maneuver planning method, showing how these results correlate to past methods and missions and how they could potentially influence future ones. Numerical simulation proved that it is feasible to control the spacecraft with a two-line element- (TLE- level uncertain, 34.6% of range, initial relative state to a 100 m v-bar relative station keeping point, at where the trajectory dispersion reduces to 3.5% of range, under a 30% data gap per revolution on account of the eclipse. Comparing with the traditional time triggered maneuver planning method, the final relative position accuracy is improved by one order and the relative trajectory robustness and collision probability are obviously improved and reduced, respectively.

  1. Maximizing the Lifetime of Wireless Sensor Networks Using Multiple Sets of Rendezvous

    Directory of Open Access Journals (Sweden)

    Bo Li

    2015-01-01

    Full Text Available In wireless sensor networks (WSNs, there is a “crowded center effect” where the energy of nodes located near a data sink drains much faster than other nodes resulting in a short network lifetime. To mitigate the “crowded center effect,” rendezvous points (RPs are used to gather data from other nodes. In order to prolong the lifetime of WSN further, we propose using multiple sets of RPs in turn to average the energy consumption of the RPs. The problem is how to select the multiple sets of RPs and how long to use each set of RPs. An optimal algorithm and a heuristic algorithm are proposed to address this problem. The optimal algorithm is highly complex and only suitable for small scale WSN. The performance of the proposed algorithms is evaluated through simulations. The simulation results indicate that the heuristic algorithm approaches the optimal one and that using multiple RP sets can significantly prolong network lifetime.

  2. Effective School Management and Supervision: Imperative for ...

    African Journals Online (AJOL)

    To provide quality education requires effective management of the human and material resources in the industry. ... examines the twin concepts of school management and supervision as the vital factors in providing quality education services.

  3. Factors affecting frontline workers' satisfaction with supervision.

    Science.gov (United States)

    Noelker, Linda S; Ejaz, Farida K; Menne, Heather L; Bagaka's, Joshua G

    2009-02-01

    Objective. This research was guided by a stress and support model to examine the effects of frontline workers' background characteristics, personal stressors, job-related stressors, and workplace support on satisfaction with supervision. Method. Survey data were collected from 644 workers in 49 long-term-care settings that employed them. Regression analysis were used to determine the effects of worker level and then Hierarchical Linear Modeling (HLM) and organizational factors on the outcome. Results. Although all four variable categories made significant contributions to explaining satisfaction with supervision, the most powerful were personal stressors and job-related stressors. Results from HLM analysis showed frontline workers in nursing homes and those employed in for-profit organizations had lower levels of satisfaction with supervision. Discussion. Findings suggest organizational interventions to address workers' financial and health issues and management practices such as better training programs and peer mentoring could enhance workers' satisfaction with supervision.

  4. Results of Evolution Supervised by Genetic Algorithms

    CERN Document Server

    Jäntschi, Lorentz; Bălan, Mugur C; Sestraş, Radu E

    2010-01-01

    A series of results of evolution supervised by genetic algorithms with interest to agricultural and horticultural fields are reviewed. New obtained original results from the use of genetic algorithms on structure-activity relationships are reported.

  5. The Cryogenic Supervision System in NSRRC

    CERN Document Server

    Li, Hsing-Chieh; Chiou, Wen-Song; Hsiao, Feng-Zone; Tsai, Zong-Da

    2005-01-01

    The helium cryogenic system in NSRRC is a fully automatic PLC system using the Siemens SIMATIC 300 controller. Modularization in both hardware and software makes it easy in the program reading, the system modification and the problem debug. Based on the Laview program we had developed a supervision system taking advantage of the Internet technology to get system's real-time information in any place. The functions of this supervision system include the real-time data accessing with more than 300 digital/analog signals, the data restore, the history trend display, and the human machine interface. The data is accessed via a Profibus line connecting the PLC system and the supervision system with a maximum baud rate 1.5 Mbit/s. Due to this supervision system, it is easy to master the status of the cryogenic system within a short time and diagnose the problem.

  6. Supervision of Curriculum at the Middle Level.

    Science.gov (United States)

    Kienapfel, Bruce

    1984-01-01

    Effective curriculum supervision is essential to a good middle school and curriculum program, and principals can do this job through preparation, curriculum review and development, taking advantage of supervisory opportunities, and curriculum evaluation. (DCS)

  7. Exploring My Style of Teacher Supervision

    OpenAIRE

    2009-01-01

    This is a report on a pilot study regarding language teacher supervision styles. The author holds a certificate in language program administration, and the pilot involved teachers of the Japanese language one of whom was also involved in the certificate program. The teachers teach at an American language institute and they agreed to be observed by the author, following procedures detailed in clinical supervision. After the lesson observation, a one-on-one conference was held with the author a...

  8. Integrated Financial Supervision: Experiences in Selected Countries

    OpenAIRE

    Edgardo Demaestri; Diego Sourrouille

    2003-01-01

    This paper represents one of the first comparative analyses of experiences of integrated supervision. It discusses how several countries around the world have developed the processes of integrating financial regulation and supervision, and covers numerous relevant technical issues as well as the policy options. It describes the scope of the activities, institutions, responsibilities, and regulatory powers that integrated supervisors are expected to cover. Issues related to the organizational ...

  9. On psychoanalytic supervision as signature pedagogy.

    Science.gov (United States)

    Watkins, C Edward

    2014-04-01

    What is signature pedagogy in psychoanalytic education? This paper examines that question, considering why psychoanalytic supervision best deserves that designation. In focusing on supervision as signature pedagogy, I accentuate its role in building psychoanalytic habits of mind, habits of hand, and habits of heart, and transforming theory and self-knowledge into practical product. Other facets of supervision as signature pedagogy addressed in this paper include its features of engagement, uncertainty, formation, and pervasiveness, as well as levels of surface, deep, and implicit structure. Epistemological, ontological, and axiological in nature, psychoanalytic supervision engages trainees in learning to do, think, and value what psychoanalytic practitioners in the field do, think, and value: It is, most fundamentally, professional preparation for competent, "good work." In this paper, effort is made to shine a light on and celebrate the pivotal role of supervision in "making" or developing budding psychoanalysts and psychoanalytic psychotherapists. Now over a century old, psychoanalytic supervision remains unparalleled in (1) connecting and integrating conceptualization and practice, (2) transforming psychoanalytic theory and self-knowledge into an informed analyzing instrument, and (3) teaching, transmitting, and perpetuating the traditions, practice, and culture of psychoanalytic treatment.

  10. Autonomic Function in Neurodegenerative Diseases

    DEFF Research Database (Denmark)

    Sørensen, Gertrud Laura; Jennum, Poul Jørgen

    2013-01-01

    , which includes the cardiac centre and controls autonomic functions, and therefore autonomic dysfunction may be experienced early in the disease course. Sleep disturbances are also common non-motor complications of PD, and therefore PD patients undergo polysomnography at the Danish Center for Sleep...... Medicine to assess the sleep disturbances. The aim of this PhD dissertation was to: 1) Develop a method to investigate autonomic changes during sleep in neurodegenerative diseases, and apply this method on PD, iRBD and narcolepsy patients to evaluate the autonomic function in these diseases. 2) Validate...... the method by applying standardized methods to measure the autonomic function based on heart rate variability (HRV) measures. 3) Based on the results, assess the validity of autonomic dysfunction as an early marker of a neurodegenerative disease. 4) Evaluate the influence of hypocretin loss in narcolepsy...

  11. Autonomic disorders in multiple sclerosis.

    Science.gov (United States)

    Lensch, E; Jost, W H

    2011-01-01

    Multiple sclerosis is an inflammatory disease leading to disseminated lesions of the central nervous system resulting in both somatomotor and autonomic disturbances. These involve the central centers of the autonomic nervous system, as well as the automatic control and pathway systems. All autonomic functions may be disordered individually or in combined form. There is no other disease with a clinical picture so multifaceted. Besides cardiovascular dysfunctions disorders of bladder and rectum have become apparent. Somatomotor and autonomic disturbances occur with similar frequency; however the focused exam often heavily favors somatomotor symptoms. Autonomic disturbances should primarily be taken into account on history taking and clinical examination. Individual diagnosis and treatment is a secondary feature. Impairments of the autonomic nervous systems in multiple sclerosis are frequently overlooked.

  12. Autonomic Disorders in Multiple Sclerosis

    Directory of Open Access Journals (Sweden)

    E. Lensch

    2011-01-01

    Full Text Available Multiple sclerosis is an inflammatory disease leading to disseminated lesions of the central nervous system resulting in both somatomotor and autonomic disturbances. These involve the central centers of the autonomic nervous system, as well as the automatic control and pathway systems. All autonomic functions may be disordered individually or in combined form. There is no other disease with a clinical picture so multifaceted. Besides cardiovascular dysfunctions disorders of bladder and rectum have become apparent. Somatomotor and autonomic disturbances occur with similar frequency; however the focused exam often heavily favors somatomotor symptoms. Autonomic disturbances should primarily be taken into account on history taking and clinical examination. Individual diagnosis and treatment is a secondary feature. Impairments of the autonomic nervous systems in multiple sclerosis are frequently overlooked.

  13. 9 CFR 355.31 - Supervision by inspector.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Supervision by inspector. 355.31..., CERTIFICATION, AND IDENTIFICATION AS TO CLASS, QUALITY, QUANTITY, AND CONDITION Supervision § 355.31 Supervision... filled in whole or in part and no such label shall be affixed thereto except under the supervision of...

  14. 28 CFR 2.94 - Supervision reports to Commission.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 1 2010-07-01 2010-07-01 false Supervision reports to Commission. 2.94 Section 2.94 Judicial Administration DEPARTMENT OF JUSTICE PAROLE, RELEASE, SUPERVISION AND RECOMMITMENT... Parolees § 2.94 Supervision reports to Commission. An initial supervision report to confirm...

  15. 10 CFR 34.46 - Supervision of radiographers' assistants.

    Science.gov (United States)

    2010-01-01

    ... 10 Energy 1 2010-01-01 2010-01-01 false Supervision of radiographers' assistants. 34.46 Section 34... REQUIREMENTS FOR INDUSTRIAL RADIOGRAPHIC OPERATIONS Radiation Safety Requirements § 34.46 Supervision of... personal supervision of a radiographer. The personal supervision must include: (a) The...

  16. Opportunities to Learn Scientific Thinking in Joint Doctoral Supervision

    Science.gov (United States)

    Kobayashi, Sofie; Grout, Brian W.; Rump, Camilla Østerberg

    2015-01-01

    Research into doctoral supervision has increased rapidly over the last decades, yet our understanding of how doctoral students learn scientific thinking from supervision is limited. Most studies are based on interviews with little work being reported that is based on observation of actual supervision. While joint supervision has become widely…

  17. 28 CFR 2.207 - Supervision reports to Commission.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 1 2010-07-01 2010-07-01 false Supervision reports to Commission. 2.207 Section 2.207 Judicial Administration DEPARTMENT OF JUSTICE PAROLE, RELEASE, SUPERVISION AND RECOMMITMENT....207 Supervision reports to Commission. A regular supervision report shall be submitted to...

  18. 48 CFR 52.247-12 - Supervision, Labor, or Materials.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 2 2010-10-01 2010-10-01 false Supervision, Labor, or....247-12 Supervision, Labor, or Materials. As prescribed in 47.207-5(b), insert a clause substantially... when the contractor is required to furnish supervision, labor, or materials: Supervision, Labor,...

  19. 28 CFR 810.1 - Supervision contact requirements.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Supervision contact requirements. 810.1 Section 810.1 Judicial Administration COURT SERVICES AND OFFENDER SUPERVISION AGENCY FOR THE DISTRICT OF COLUMBIA COMMUNITY SUPERVISION: ADMINISTRATIVE SANCTIONS § 810.1 Supervision contact requirements. If...

  20. Exploring Supervisor and Supervisee Experiences of Triadic Supervision

    Science.gov (United States)

    Derrick, Emily C.

    2010-01-01

    This dissertation research focused on supervisor and supervisee experiences within the triadic supervision triad. Triadic supervision is an emerging method of supervision within counselor education. It is fast becoming the preferred mode of supervision in counselor education programs. Unfortunately, there is very little research to support the…

  1. A Model for Using Triadic Supervision in Counselor Preparation Programs

    Science.gov (United States)

    Lawson, Gerard; Hein, Serge F.; Getz, Hildy

    2009-01-01

    The Council for Accreditation of Counseling and Related Educational Programs (2001) has approved the use of triadic supervision as an alternative to individual supervision in clinical instruction. However, literature describing this mode of supervision is very limited. A model for triadic supervision is described, including presession planning,…

  2. 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...

  3. Jam avoidance with autonomous systems

    CERN Document Server

    Tordeux, Antoine

    2016-01-01

    Many car-following models are developed for jam avoidance in highways. Two mechanisms are used to improve the stability: feedback control with autonomous models and increasing of the interaction within cooperative ones. In this paper, we compare the linear autonomous and collective optimal velocity (OV) models. We observe that the stability is significantly increased by adding predecessors in interaction with collective models. Yet autonomous and collective approaches are close when the speed difference term is taking into account. Within the linear OV models tested, the autonomous models including speed difference are sufficient to maximise the stability.

  4. Robotics and Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Provides an environment for developing and evaluating intelligent software for both actual and simulated autonomous vehicles. Laboratory computers provide...

  5. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation.

    Science.gov (United States)

    Chatila, R.; Lacroix, S.; Simeon, T.; Herrb, M.

    Sending mobile robots to accomplish planetary exploration missions is scientifically promising and technologically challenging. The authors present a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. They have partially implemented and validated these concepts. Experimental results illustrate the approach and the results.

  6. Vers des robots collaboratifs autonomes sûrs de fonctionnement

    OpenAIRE

    Guiochet, Jérémie

    2015-01-01

    This manuscript of HDR (Habilitation à Diriger des Recherches, french accreditation to supervise research) presents research work of Jérémie Guiochet carried out at LAAS-CNRS in the Dependable computing and Fault Tolerance (TSF) team. His research work is mainly related to the dependability of collaborative autonomous robotic systems. Specific challenges raised by these systems, including human-system physical interactions and the presence of uncertainties in the perception and decision mecha...

  7. Une solution opérationelle de localisation pour des véhicules autonomes basée sur le SLAM

    OpenAIRE

    Roussillon, Cyril

    2013-01-01

    There are numerous applications of outdoor autonomous mobile robots : surveillance of areas to detect anomalies, data acquisition campaigns, exploration, search of victims in disaster areas, etc. Robot localization is a key function in these contexts because it is necessary for a lot of essential robotics tasks, in particular to build environment models, follow paths or supervise the execution of the missions. This work presents the development of a localization solution for autonomous robots...

  8. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

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

  9. Multicultural supervision: lessons learned about an ongoing struggle.

    Science.gov (United States)

    Christiansen, Abigail Tolhurst; Thomas, Volker; Kafescioglu, Nilufer; Karakurt, Gunnur; Lowe, Walter; Smith, William; Wittenborn, Andrea

    2011-01-01

    This article examines the experiences of seven diverse therapists in a supervision course as they wrestled with the real-world application of multicultural supervision. Existing literature on multicultural supervision does not address the difficulties that arise in addressing multicultural issues in the context of the supervision relationship. The experiences of six supervisory candidates and one mentoring supervisor in addressing multicultural issues in supervision are explored. Guidelines for conversations regarding multicultural issues are provided.

  10. Group Supervision in Graduate Education: A Process of Supervision Skill Development and Text Improvement

    Science.gov (United States)

    Samara, Akylina

    2006-01-01

    This paper is an investigation of group supervision of the Master of Education thesis at the University of Bergen, Norway. Four recorded group supervision sessions are analysed. The group participants are five students and three supervisors. The sessions are analysed from a qualitative, phenomenological perspective. The results show that group…

  11. Classroom Supervision and Informal Analysis of Behavior. A Manual for Supervision.

    Science.gov (United States)

    Hull, Ray; Hansen, John

    This manual for supervision addresses itself to those with responsibility for helping teachers develop into skilled professionals through use of a rational plan of feedback and assistance. It describes the supervision cycle and outline simple and practical techniques to collect effective data that will assist the classroom teacher. The manual has…

  12. Group Supervision in Graduate Education: A Process of Supervision Skill Development and Text Improvement

    Science.gov (United States)

    Samara, Akylina

    2006-01-01

    This paper is an investigation of group supervision of the Master of Education thesis at the University of Bergen, Norway. Four recorded group supervision sessions are analysed. The group participants are five students and three supervisors. The sessions are analysed from a qualitative, phenomenological perspective. The results show that group…

  13. Learning for Autonomous Navigation

    Science.gov (United States)

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

    2005-01-01

    Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

  14. Towards autonomous vehicular clouds

    Directory of Open Access Journals (Sweden)

    Stephan Olariu

    2011-09-01

    Full Text Available The dawn of the 21st century has seen a growing interest in vehicular networking and its myriad potential applications. The initial view of practitioners and researchers was that radio-equipped vehicles could keep the drivers informed about potential safety risks and increase their awareness of road conditions. The view then expanded to include access to the Internet and associated services. This position paper proposes and promotes a novel and more comprehensive vision namely, that advances in vehicular networks, embedded devices and cloud computing will enable the formation of autonomous clouds of vehicular computing, communication, sensing, power and physical resources. Hence, we coin the term, autonomous vehicular clouds (AVCs. A key feature distinguishing AVCs from conventional cloud computing is that mobile AVC resources can be pooled dynamically to serve authorized users and to enable autonomy in real-time service sharing and management on terrestrial, aerial, or aquatic pathways or theaters of operations. In addition to general-purpose AVCs, we also envision the emergence of specialized AVCs such as mobile analytics laboratories. Furthermore, we envision that the integration of AVCs with ubiquitous smart infrastructures including intelligent transportation systems, smart cities and smart electric power grids will have an enormous societal impact enabling ubiquitous utility cyber-physical services at the right place, right time and with right-sized resources.

  15. A Prediction Method of TV Camera Image for Space Manual-control Rendezvous and Docking

    Science.gov (United States)

    Zhen, Huang; Qing, Yang; Wenrui, Wu

    Space manual-control rendezvous and docking (RVD) is a key technology for accomplishing the RVD mission in manned space engineering, especially when automatic control system is out of work. The pilot on chase spacecraft manipulates the hand-stick by the image of target spacecraft captured by TV camera. From the TV image, the relative position and attitude of chase and target spacecrafts can be shown. Therefore, the size, the position, the brightness and the shadow of the target on TV camera are key to guarantee the success of manual-control RVD. A method of predicting the on-orbit TV camera image at different relative positions and light conditions during the process of RVD is discussed. Firstly, the basic principle of capturing the image of cross drone on target spacecraft by TV camera is analyzed theoretically, based which the strategy of manual-control RVD is discussed in detail. Secondly, the relationship between the displayed size or position and the real relative distance of chase and target spacecrafts is presented, the brightness and reflection by the target spacecraft at different light conditions are decribed, the shadow on cross drone caused by the chase or target spacecraft is analyzed. Thirdly, a prediction method of on-orbit TV camera images at certain orbit and light condition is provided, and the characteristics of TV camera image during the RVD is analyzed. Finally, the size, the position, the brightness and the shadow of target spacecraft on TV camera image at typical orbit is simulated. The result, by comparing the simulated images with the real images captured by the TV camera on Shenzhou manned spaceship , shows that the prediction method is reasonable

  16. Laparoendoscopic Rendezvous for Concomitant Cholecystocholedocholithiasis: A Successful Modality Even in the Most Difficult Presentations Including Pregnancy

    Science.gov (United States)

    Mikwar, Zaher Abdulaziz; Ahmad, Akram Neyaz

    2016-01-01

    Background. Laparoendoscopic rendezvous (LERV) technique is emerging as an attractive treatment option for concomitant cholecystocholedocholithiasis. In this paper, we report our experience in performing the LERV technique in patients with unusual presentations in terms of anatomical difficulty, pregnancy, multiple comorbid diseases, and postlaparotomy. We aim to highlight the effectiveness of the LERV technique in some clinical situations where conventional methods would fail or carry high risks in adequately managing concomitant cholecystocholedocholithiasis. Methods. Four patients diagnosed to have concomitant cholecystocholedocholithiasis with associated difficult presentation or comorbid diseases were treated using the LERV technique. One patient presented with difficult anatomy where ERCP failed at initial attempts. Another patient was pregnant (first trimester). A third patient had complex comorbid diseases (bronchial asthma, hypertension, congestive heart failure, and end-stage renal disease on regular hemodialysis). A fourth patient had previous laparotomy and sigmoidectomy for diverticular disease and had severe hospital phobia. Results. All patients tolerated the LERV technique very well; no intraoperative occurrence was reported. The mean operative time was 86.3 ± 17.2 minutes; mean time of the endoscopic part was 29.4 ± 3.57 minutes. The mean blood loss was 44.3 ± 18.2 mL (range 20–85). Residual stone, postoperative complications, postoperative morbidity, and postoperative mortality were 0 (0%). Postoperative short hospital stay was reported in all patients, average 3 days (range 2–4). Conclusion. LERV procedure is a safe and effective treatment option for the management of concomitant cholecystocholedocholithiasis, even in difficult situations where other methods would fail or carry high risks, or in patients presenting with severe comorbid diseases or pregnancy. This procedure may emerge as an attractive alternative option for high

  17. Laparoendoscopic Rendezvous for Concomitant Cholecystocholedocholithiasis: A Successful Modality Even in the Most Difficult Presentations Including Pregnancy

    Directory of Open Access Journals (Sweden)

    Bader Hamza Shirah

    2016-01-01

    Full Text Available Background. Laparoendoscopic rendezvous (LERV technique is emerging as an attractive treatment option for concomitant cholecystocholedocholithiasis. In this paper, we report our experience in performing the LERV technique in patients with unusual presentations in terms of anatomical difficulty, pregnancy, multiple comorbid diseases, and postlaparotomy. We aim to highlight the effectiveness of the LERV technique in some clinical situations where conventional methods would fail or carry high risks in adequately managing concomitant cholecystocholedocholithiasis. Methods. Four patients diagnosed to have concomitant cholecystocholedocholithiasis with associated difficult presentation or comorbid diseases were treated using the LERV technique. One patient presented with difficult anatomy where ERCP failed at initial attempts. Another patient was pregnant (first trimester. A third patient had complex comorbid diseases (bronchial asthma, hypertension, congestive heart failure, and end-stage renal disease on regular hemodialysis. A fourth patient had previous laparotomy and sigmoidectomy for diverticular disease and had severe hospital phobia. Results. All patients tolerated the LERV technique very well; no intraoperative occurrence was reported. The mean operative time was 86.3±17.2 minutes; mean time of the endoscopic part was 29.4±3.57 minutes. The mean blood loss was 44.3±18.2 mL (range 20–85. Residual stone, postoperative complications, postoperative morbidity, and postoperative mortality were 0 (0%. Postoperative short hospital stay was reported in all patients, average 3 days (range 2–4. Conclusion. LERV procedure is a safe and effective treatment option for the management of concomitant cholecystocholedocholithiasis, even in difficult situations where other methods would fail or carry high risks, or in patients presenting with severe comorbid diseases or pregnancy. This procedure may emerge as an attractive alternative option for high

  18. Optimal Autonomous Spacecraft Resiliency Maneuvers Using Metaheuristics

    Science.gov (United States)

    2014-09-15

    variables is to select a planet to fly-by or an asteroid to rendezvous with [28–31]. A second use for the categorical variables is to define the number...Jupiter transfer employing nuclear electric propulsion, an early proposal for the BepiColombo mission to Mercury , and a solar- electric mission from...variables. One use for the categorical variables is to select a planet to use for a gravity- assist or an asteroid with which to rendezvous [28–31]. A

  19. Intuitive expertise in ICT graduate supervision

    Directory of Open Access Journals (Sweden)

    Jill Jameson

    2002-12-01

    Full Text Available Intuitive expertise in the application of advanced interdisciplinary facilitation is the subject of this personal reflection on the graduate supervisory style of Professor David Squires in computers in education. This single-case reflective study examines the characteristics of effective supervision observed during masters and doctoral supervision at King's College in the years 1990-9. Interdisciplinarity in ICT graduate studies particularly requires a fluency of supervisory expertise in enabling supervisees to combine multiple complex perspectives from a number of fields of knowledge. Intuitive combinatory aspects of supervision are highlighted in this reflection on the role carried out by an academic expert in facilitating student success. This is examined from a perspective incorporating affective as well as intellectual elements, informed by characteristics identified in professional sports and performing arts coaching/mentoring. Key characteristics comprising a model of intuitive expertise in ICT graduate supervision were outlined. The resultant portrait aims to complement existing literature on graduate supervision, with reference to the field of ICTI computers in education relating to student hypermedia composition.

  20. Appreciative Perspectives on Supervision in Social Work

    Directory of Open Access Journals (Sweden)

    Elena UNGURU

    2017-06-01

    Full Text Available Supervision is considered to be an extremly important stage in the professional development of the specialists in the fields with asistential nature, such as: psychotherapy, coaching, personal development, counselling, etc. In Romania, the supervision of social services has become compulsory through the Order 288/2006. A great part of the content of standards for the case management, including those referred to supervision, namely to the theoretical and methodological development of some teachers, such as: Professor PhD Ştefan Cojocaru, Professor PhD Ana Muntean, Professor PhD Elena Zamfir. In this review, we will synthesize a part of Professor Ştefan Cojocaru’s contribution to the development of the field of appreciative supervision, as it is presented in the volume Appreciative methods in social work. Survey, supervision and case management, published with Polirom Publishing House in 2005. We will aim to also synthesize a series of echos of his work in the Romanian scientific literature.

  1. 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…

  2. Proportionality and Autonomous Weapons Systems

    NARCIS (Netherlands)

    van den Boogaard, J.

    2015-01-01

    Given the swift technologic development, it may be expected that the availability of the first truly autonomous weapons systems is fast approaching. Once they are deployed, these weapons will use artificial intelligence to select and attack targets without further human intervention. Autonomous

  3. Proportionality and Autonomous Weapons Systems

    NARCIS (Netherlands)

    van den Boogaard, J.

    2015-01-01

    Given the swift technologic development, it may be expected that the availability of the first truly autonomous weapons systems is fast approaching. Once they are deployed, these weapons will use artificial intelligence to select and attack targets without further human intervention. Autonomous weap

  4. Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

    Science.gov (United States)

    Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

    2015-01-01

    The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

  5. Evolutionary Autonomous Health Monitoring System (EAHMS) Project

    Data.gov (United States)

    National Aeronautics and Space Administration — For supporting NASA's Robotics, Tele-Robotics and Autonomous Systems Roadmap, we are proposing the "Evolutionary Autonomous Health Monitoring System" (EAHMS) for...

  6. Autonomous Multicamera Tracking on Embedded Smart Cameras

    Directory of Open Access Journals (Sweden)

    Bischof Horst

    2007-01-01

    Full Text Available There is currently a strong trend towards the deployment of advanced computer vision methods on embedded systems. This deployment is very challenging since embedded platforms often provide limited resources such as computing performance, memory, and power. In this paper we present a multicamera tracking method on distributed, embedded smart cameras. Smart cameras combine video sensing, processing, and communication on a single embedded device which is equipped with a multiprocessor computation and communication infrastructure. Our multicamera tracking approach focuses on a fully decentralized handover procedure between adjacent cameras. The basic idea is to initiate a single tracking instance in the multicamera system for each object of interest. The tracker follows the supervised object over the camera network, migrating to the camera which observes the object. Thus, no central coordination is required resulting in an autonomous and scalable tracking approach. We have fully implemented this novel multicamera tracking approach on our embedded smart cameras. Tracking is achieved by the well-known CamShift algorithm; the handover procedure is realized using a mobile agent system available on the smart camera network. Our approach has been successfully evaluated on tracking persons at our campus.

  7. Project Supervision – An Engineering Approach

    DEFF Research Database (Denmark)

    Paulsen, Rasmus Reinhold; Larsen, Rasmus; Ersbøll, Bjarne Kjær

    2011-01-01

    of their master thesis writing. The supervision principles are: Ownership: The student should feel that their project is their own. Ideally, they should formulate the project themselves. Write early: We strongly encourage the students to write and generate figures and images already from the first week......For more than twenty years, a group based supervision strategy has been used when supervising engineering bachelor- and master thesis students at our research group. In recent years, we have formalised the approach and used our industry experience to create a very successful framework for project...... at all meetings. Weekly meetings are scheduled to be at a specific day at a specific place for the entire process....

  8. Multi-Instance Learning from Supervised View

    Institute of Scientific and Technical Information of China (English)

    Zhi-Hua Zhou

    2006-01-01

    In multi-instance learning, the training set comprises labeled bags that are composed of unlabeled instances,and the task is to predict the labels of unseen bags. This paper studies multi-instance learning from the view of supervised learning. First, by analyzing some representative learning algorithms, this paper shows that multi-instance learners can be derived from supervised learners by shifting their focuses from the discrimination on the instances to the discrimination on the bags. Second, considering that ensemble learning paradigms can effectively enhance supervised learners, this paper proposes to build multi-instance ensembles to solve multi-instance problems. Experiments on a real-world benchmark test show that ensemble learning paradigms can significantly enhance multi-instance learners.

  9. Core ethical issues of clinical nursing supervision.

    Science.gov (United States)

    Berggren, Ingela; Barbosa da Silva, António; Severinsson, Elisabeth

    2005-03-01

    Clinical nursing supervision enables supervisees to reflect on ethically difficult caring situations, thereby strengthening their professional identity, integrating nursing theory and practice, and leading to the development of ethical competence. The aim of this study was to develop an understanding of the core ethical issues of clinical nursing supervision, using previous research as well as philosophical analysis of the theories of three moral philosophers: Harald Ofstad, Richard Hare and Carol Gilligan. The ultimate aim of this study was to develop a general model for ethical decision-making and to establish its relevance for clinical nursing supervision. The findings highlight four important values for the development of a basis for ethical decision-making. These values are caring, dignity, responsibility and virtue.

  10. Guidelines for clinical supervision in health service psychology.

    Science.gov (United States)

    2015-01-01

    This document outlines guidelines for supervision of students in health service psychology education and training programs. The goal was to capture optimal performance expectations for psychologists who supervise. It is based on the premises that supervisors (a) strive to achieve competence in the provision of supervision and (b) employ a competency-based, meta-theoretical approach to the supervision process. The Guidelines on Supervision were developed as a resource to inform education and training regarding the implementation of competency-based supervision. The Guidelines on Supervision build on the robust literatures on competency-based education and clinical supervision. They are organized around seven domains: supervisor competence; diversity; relationships; professionalism; assessment/evaluation/feedback; problems of professional competence, and ethical, legal, and regulatory considerations. The Guidelines on Supervision represent the collective effort of a task force convened by the American Psychological Association (APA) Board of Educational Affairs (BEA). PsycINFO Database Record (c) 2015 APA, all rights reserved.

  11. Resource-Optimal Planning For An Autonomous Planetary Vehicle

    Directory of Open Access Journals (Sweden)

    Giuseppe Della Penna

    2010-07-01

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

  12. Mission analysis and guidance, navigation, and control design for rendezvous and docking phase of advanced reentry vehicle mission

    Science.gov (United States)

    Strippoli, L.; Colmenarejo, P.; Strauch, H.

    2013-12-01

    Advanced Reentry Vehicle (ARV) belongs to the family of vehicles designed to perform rendezvous and docking (RvD) with the International space station (ISS) [1]. Differently from its predecessor ATV (Automated Transfer Vehicle), the ARV will transport a reentry capsule, equipped with a heatshield and able to bring back cargo, experiments, or, as a possible future development, even crew, being this latter scenario very attracting in view of the Space Shuttle retirement. GMV, as subcontractor of EADS-Astrium Germany, is in charge of the RvD and departure mission analysis and GNC (Guidance, Navigation, and Control) design of ARV mission. This paper will present the main outcomes of the study.

  13. Optimised collision avoidance for an ultra-close rendezvous with a failed satellite based on the Gauss pseudospectral method

    Science.gov (United States)

    Chu, Xiaoyu; Zhang, Jingrui; Lu, Shan; Zhang, Yao; Sun, Yue

    2016-11-01

    This paper presents a trajectory planning algorithm to optimise the collision avoidance of a chasing spacecraft operating in an ultra-close proximity to a failed satellite. The complex configuration and the tumbling motion of the failed satellite are considered. The two-spacecraft rendezvous dynamics are formulated based on the target body frame, and the collision avoidance constraints are detailed, particularly concerning the uncertainties. An optimisation solution of the approaching problem is generated using the Gauss pseudospectral method. A closed-loop control is used to track the optimised trajectory. Numerical results are provided to demonstrate the effectiveness of the proposed algorithms.

  14. Autonomous Gaussian Decomposition

    CERN Document Server

    Lindner, Robert R; Murray, Claire E; Stanimirović, Snežana; Babler, Brian L; Heiles, Carl; Hennebelle, Patrick; Goss, W M; Dickey, John

    2014-01-01

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

  15. Effects of interval and continuous exercise training on autonomic cardiac function in COPD patients.

    Science.gov (United States)

    Rodríguez, Diego A; Arbillaga, Ane; Barberan-Garcia, Anael; Ramirez-Sarmiento, Alba; Torralba, Yolanda; Vilaró, Jordi; Gimeno-Santos, Elena; Gea, Joaquim; Orozco-Levi, Mauricio; Roca, Josep; Marco, Ester

    2016-01-01

    Both interval (IT) and continuous (CT) exercise training results in an improvement of aerobic capacity in patients with chronic obstructive pulmonary disease (COPD); however, their effects on cardiac autonomic function remains unclear. The aim of our study was to evaluate the effect of a supervised CT vs IT on autonomic cardiac function in COPD patients. COPD patients were divided into two different groups according to training modality (IT or CT). Autonomic cardiac dysfunction (ACD) was defined as a heart rate recovery lower than 12 bpm heart rate after the first minute of maximal exercise (HRR1 ) and an abnormal chronotropic response (CR) to exercise (exercise training improve heart rate recovery and CR in COPD patients. These benefits could help to individualize exercise training. © 2014 John Wiley & Sons Ltd.

  16. Incremental Supervised Subspace Learning for Face Recognition

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Subspace learning algorithms have been well studied in face recognition. Among them, linear discriminant analysis (LDA) is one of the most widely used supervised subspace learning method. Due to the difficulty of designing an incremental solution of the eigen decomposition on the product of matrices, there is little work for computing LDA incrementally. To avoid this limitation, an incremental supervised subspace learning (ISSL) algorithm was proposed, which incrementally learns an adaptive subspace by optimizing the maximum margin criterion (MMC). With the dynamically added face images, ISSL can effectively constrain the computational cost. Feasibility of the new algorithm has been successfully tested on different face data sets.

  17. EEM{sup TM} wireless supervision

    Energy Technology Data Exchange (ETDEWEB)

    Bilic, H. [Ericsson-Nikola Tesla d.d. Zagreb (Croatia)

    2000-07-01

    By adding the GSM network to the communication level of Energy Management systems, energy operating centres (EOC) can offer wireless access to the supervised equipment. Furthermore EOC can profit from rapid service development in the GSM networks. With implementation of GPRS to the GSM network EOC can instantly offer wireless access to external IP based networks such as Internet and corporate Intranets. The author describes architecture and key characteristic of Ericsson EnergyMaster{sup TM} (EEM{sup TM}) system for Energy Management, how and where to implement wireless supervision, wireless access to IP addresses and also how to implement new services provided by the GSM network. (orig.)

  18. Supervised Learning in Multilayer Spiking Neural Networks

    CERN Document Server

    Sporea, Ioana

    2012-01-01

    The current article introduces a supervised learning algorithm for multilayer spiking neural networks. The algorithm presented here overcomes some limitations of existing learning algorithms as it can be applied to neurons firing multiple spikes and it can in principle be applied to any linearisable neuron model. The algorithm is applied successfully to various benchmarks, such as the XOR problem and the Iris data set, as well as complex classifications problems. The simulations also show the flexibility of this supervised learning algorithm which permits different encodings of the spike timing patterns, including precise spike trains encoding.

  19. Mobile Intelligent Autonomous Systems

    Directory of Open Access Journals (Sweden)

    Jitendra R. Raol

    2010-01-01

    Full Text Available Mobile intelligent autonomous systems (MIAS is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i perception and reasoning, (ii mobility and navigation,(iii haptics and teleoperation, (iv image fusion/computervision, (v modelling of manipulators, (vi hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii vehicle-robot path and motionplanning/control, (viii human-machine interfaces for interaction between humans and robots, and (ix application of artificial neural networks (ANNs, fuzzy logic/systems (FLS,probabilistic/approximate reasoning (PAR, Bayesian networks(BN and genetic algorithms (GA to the above-mentioned problems. Also, multi-sensor data fusion (MSDF playsvery crucial role at many levels of the data fusion process:(i kinematic fusion (position/bearing tracking, (ii imagefusion (for scene recognition, (iii information fusion (forbuilding world models, and (iv decision fusion (for tracking,control actions. The MIAS as a technology is useful for automation of complex tasks, surveillance in a hazardousand hostile environment, human-assistance in very difficultmanual works, medical robotics, hospital systems, autodiagnosticsystems, and many other related civil and military systems. Also, other important research areas for MIAScomprise sensor/actuator modelling, failure management/reconfiguration, scene understanding, knowledge representation, learning and decision-making. Examples ofdynamic systems considered within the MIAS would be:autonomous systems (unmanned ground vehicles, unmannedaerial vehicles, micro/mini air vehicles, and autonomousunder water vehicles, mobile/fixed robotic systems, dexterousmanipulator robots, mining robots, surveillance systems,and networked/multi-robot systems, to name a few.Defence Science Journal, 2010, 60(1, pp.3-4,

  20. Self-Supervised Learning to Visually Detect Terrain Surfaces for Autonomous Robots Operating in Forested Terrain

    Science.gov (United States)

    2012-01-01

    classified. Stereo algorithms can generate 3D point clouds at relatively high frequency (sev- eral hertz). However, the resulting depth map is typically...10.1002/rob 280 • Journal of Field Robotics—2012 (a) (b) (c) (d) Figure 1. Experimental robot platform, (a) lateral view and (b) top view. (c) Perception ... monocular road detection in desert terrain. In Proceedings of robotics: Science and systems, Philadelphia, USA. Elmqvist, M. (2002). Ground surface

  1. Automatic learning rate adjustment for self-supervising autonomous robot control

    Science.gov (United States)

    Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

    1992-01-01

    Described is an application in which an Artificial Neural Network (ANN) controls the positioning of a robot arm with five degrees of freedom by using visual feedback provided by two cameras. This application and the specific ANN model, local liner maps, are based on the work of Ritter, Martinetz, and Schulten. We extended their approach by generating a filtered, average positioning error from the continuous camera feedback and by coupling the learning rate to this error. When the network learns to position the arm, the positioning error decreases and so does the learning rate until the system stabilizes at a minimum error and learning rate. This abolishes the need for a predetermined cooling schedule. The automatic cooling procedure results in a closed loop control with no distinction between a learning phase and a production phase. If the positioning error suddenly starts to increase due to an internal failure such as a broken joint, or an environmental change such as a camera moving, the learning rate increases accordingly. Thus, learning is automatically activated and the network adapts to the new condition after which the error decreases again and learning is 'shut off'. The automatic cooling is therefore a prerequisite for the autonomy and the fault tolerance of the system.

  2. NEED OF FINANCIAL INSTITUTIONS SUPERVISION THROUGH AN SINGLE FRAMEWORK OF MACRO-PRUDENTIAL SUPERVISION

    Directory of Open Access Journals (Sweden)

    MEDAR LUCIAN-ION

    2013-12-01

    Full Text Available Joint Committee of the European Supervisory Authorities required Member States to implement new macro-prudential indicators.through national authorities of prudential supervision will be perform activities concerning the supplementary supervision of credit institutions, insurance companies or reinsurance companies, investment services firms and investment management firms, from a financial conglomerate. The most popular ways that give stability to the financial system are related to normal functioning of markets, to ensure implementation of payments in the economy and especially achieving a quality financial intermediation. Activities concerning macroprudential supervision concern, first of all, of managerial strengthening of internal control, assessment and management of risks

  3. Autonomous software: Myth or magic?

    CERN Document Server

    Allan, Alasdair; Saunders, Eric S

    2008-01-01

    We discuss work by the eSTAR project which demonstrates a fully closed loop autonomous system for the follow up of possible micro-lensing anomalies. Not only are the initial micro-lensing detections followed up in real time, but ongoing events are prioritised and continually monitored, with the returned data being analysed automatically. If the ``smart software'' running the observing campaign detects a planet-like anomaly, further follow-up will be scheduled autonomously and other telescopes and telescope networks alerted to the possible planetary detection. We further discuss the implications of this, and how such projects can be used to build more general autonomous observing and control systems.

  4. Cybersecurity for aerospace autonomous systems

    Science.gov (United States)

    Straub, Jeremy

    2015-05-01

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

  5. Theory of Multiple Intelligences at Teacher Supervision

    Directory of Open Access Journals (Sweden)

    İzzet Döş

    2012-07-01

    Full Text Available This study aims to determine views of teachers and supervisors related to the multiple intelligences in students’ learning that they took into consideration in the evaluation of teachers during lesson supervision. The study was conducted with 5 supervisors who work at Kahramanmaraş provincial directorate of national education and 10 teachers who work at primary schools in the centre of Kahramanmaraş in 2011-2012 year. Data was gathered with the help of interview form consisting of five open-ended questions. In the analysis of the data content analysis which is one of the qualitative research methods. According to the results of the analysis, it has been found that usage of multiple intelligences theory in the evaluation students’ learning during supervision enabled them to evaluate students’ learning in a more detailed way. It also made it possible for the supervisors to examine supervision evaluations at different levels. It was also mentioned that supervisions made according to multiple intelligence theory has some limitations.

  6. On Restraint of and Supervision over Power

    Institute of Scientific and Technical Information of China (English)

    DONG YUNHU

    2007-01-01

    @@ Power is the nucleus of social and political life. Effective restraint on and supervision over the operation of power is the fundamental way of preventing corruption of power, which at the same time constitutes an important indication to democracy and its development in a given country.

  7. Peer Supervision: Toward More Effective Training.

    Science.gov (United States)

    Wagner, Carol A.; Smith, James P., Jr.

    1979-01-01

    Discusses peer supervision as a vehicle for increasing student responsibility for self-assessment and peer assessment, and increasing independence and interdependence among students for professional and personal growth. The article also explains a model of a master's degree program in counseling and includes rationale, definition, implementation,…

  8. Case Studies in Middle Management Supervision

    Science.gov (United States)

    White, Lori S.

    2011-01-01

    This chapter presents a series of supervision-related case studies of situations that midlevel managers might face. Individuals enrolled in a midlevel management professional development course recommended the topics selected for this chapter. Drawing upon her experience teaching the course, the author selected four case studies that individuals…

  9. 19 CFR 111.28 - Responsible supervision.

    Science.gov (United States)

    2010-04-01

    ... TREASURY CUSTOMS BROKERS Duties and Responsibilities of Customs Brokers § 111.28 Responsible supervision... the broker intends to transact customs business, a list of the names of persons currently employed by... the broker already has a permit, and before the broker begins to transact customs business as a...

  10. Magazine Picture Collage in Group Supervision

    Science.gov (United States)

    Shepard, Blythe C.; Guenette, Francis L.

    2010-01-01

    A magazine picture collage activity was used with three female counsellor education students as a vehicle to support them in processing their experience as counsellors in training. The use of magazine picture collage in group supervision is described, and the benefits and challenges are presented. The collages served as jumping-off points for…

  11. 19 CFR 19.34 - Customs supervision.

    Science.gov (United States)

    2010-04-01

    ... 19 Customs Duties 1 2010-04-01 2010-04-01 false Customs supervision. 19.34 Section 19.34 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE TREASURY CUSTOMS WAREHOUSES, CONTAINER STATIONS AND CONTROL OF MERCHANDISE THEREIN Space Bonded for the Storage...

  12. Cybersupervision: Conducting Supervision on the Information Superhighway.

    Science.gov (United States)

    Coursol, Diane

    The internship experience is an integral part of the graduate program for counselor education students. The APA Code of Ethics and Standards of Practice and the ACPA code of ethics require that students receive regular supervision from site and faculty supervisors during the practicum and internship experiences. However, when student counselors…

  13. Supporting Placement Supervision in Clinical Exercise Physiology

    Science.gov (United States)

    Sealey, Rebecca M.; Raymond, Jacqueline; Groeller, Herb; Rooney, Kieron; Crabb, Meagan; Watt, Kerrianne

    2015-01-01

    The continued engagement of the professional workforce as supervisors is critical for the sustainability and growth of work-integrated learning activities in university degrees. This study investigated factors that influence the willingness and ability of clinicians to continue to supervise clinical exercise physiology work-integrated learning…

  14. 27 CFR 24.30 - Supervision.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Supervision. 24.30 Section 24.30 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS WINE Administrative and Miscellaneous Provisions Authorities § 24.30...

  15. Remote Video Supervision in Adapted Physical Education

    Science.gov (United States)

    Kelly, Luke; Bishop, Jason

    2013-01-01

    Supervision for beginning adapted physical education (APE) teachers and inservice general physical education teachers who are learning to work with students with disabilities poses a number of challenges. The purpose of this article is to describe a project aimed at developing a remote video system that could be used by a university supervisor to…

  16. Spirituality and School Counselor Education and Supervision

    Science.gov (United States)

    Gallo, Laura L.

    2014-01-01

    Spirituality is an area that has not received a great deal of attention in supervision, yet it can have substantial effects on the counseling process. A definition of spirituality that allows for a variety of worldviews can be useful to both counselor and client as it helps strengthen the counseling relationship and lessen differences between…

  17. Performance Monitoring Applied to System Supervision

    Directory of Open Access Journals (Sweden)

    Bertille Somon

    2017-07-01

    Full Text Available Nowadays, automation is present in every aspect of our daily life and has some benefits. Nonetheless, empirical data suggest that traditional automation has many negative performance and safety consequences as it changed task performers into task supervisors. In this context, we propose to use recent insights into the anatomical and neurophysiological substrates of action monitoring in humans, to help further characterize performance monitoring during system supervision. Error monitoring is critical for humans to learn from the consequences of their actions. A wide variety of studies have shown that the error monitoring system is involved not only in our own errors, but also in the errors of others. We hypothesize that the neurobiological correlates of the self-performance monitoring activity can be applied to system supervision. At a larger scale, a better understanding of system supervision may allow its negative effects to be anticipated or even countered. This review is divided into three main parts. First, we assess the neurophysiological correlates of self-performance monitoring and their characteristics during error execution. Then, we extend these results to include performance monitoring and error observation of others or of systems. Finally, we provide further directions in the study of system supervision and assess the limits preventing us from studying a well-known phenomenon: the Out-Of-the-Loop (OOL performance problem.

  18. Computer Monitor Supervision: A Clinical Note.

    Science.gov (United States)

    Scherl, Charles R.; Haley, Jay

    2000-01-01

    Presents communication procedures for supervisors and therapy trainees that have been developed as a result of the use of computer technology. Using the computer as a supervision tool, therapy can be influenced by the supervisor while minimizing disruption. Successes and pitfalls in a master's level practicum course in family therapy are…

  19. Computer Monitor Supervision: A Clinical Note.

    Science.gov (United States)

    Scherl, Charles R.; Haley, Jay

    2000-01-01

    Presents communication procedures for supervisors and therapy trainees that have been developed as a result of the use of computer technology. Using the computer as a supervision tool, therapy can be influenced by the supervisor while minimizing disruption. Successes and pitfalls in a master's level practicum course in family therapy are…

  20. Enhancing Adult Learning in Clinical Supervision

    Science.gov (United States)

    Goldman, Stuart

    2011-01-01

    Objective/Background: For decades, across almost every training site, clinical supervision has been considered "central to the development of skills" in psychiatry. The crucial supervisor/supervisee relationship has been described extensively in the literature, most often framed as a clinical apprenticeship of the novice to the master craftsman.…

  1. Supervision That Improves Teaching: Strategies and Techniques.

    Science.gov (United States)

    Sullivan, Susan; Glanz, Jeffrey

    This book offers a plan for improved classroom practice through the supervisory process. It includes hands-on practices for developing a personalized supervision strategy, research-based and empirically tested strategies, field-tested tools and techniques for qualitative and quantitative observation, a comprehensive resource of traditional and…

  2. Instructional Supervision: The Policy-Practice Rift.

    Science.gov (United States)

    Tunison, Scott D.

    2001-01-01

    Discusses the results of a recent Canadian study in which the perceptions of superintendents, principals, and teachers were analyzed and compared in order to determine the actual level of agreement between the practices for instructional supervision outlined in the school division's policy manual and the actual practice in the schools governed by…

  3. On Training Targets for Supervised Speech Separation

    Science.gov (United States)

    Wang, Yuxuan; Narayanan, Arun; Wang, DeLiang

    2014-01-01

    Formulation of speech separation as a supervised learning problem has shown considerable promise. In its simplest form, a supervised learning algorithm, typically a deep neural network, is trained to learn a mapping from noisy features to a time-frequency representation of the target of interest. Traditionally, the ideal binary mask (IBM) is used as the target because of its simplicity and large speech intelligibility gains. The supervised learning framework, however, is not restricted to the use of binary targets. In this study, we evaluate and compare separation results by using different training targets, including the IBM, the target binary mask, the ideal ratio mask (IRM), the short-time Fourier transform spectral magnitude and its corresponding mask (FFT-MASK), and the Gammatone frequency power spectrum. Our results in various test conditions reveal that the two ratio mask targets, the IRM and the FFT-MASK, outperform the other targets in terms of objective intelligibility and quality metrics. In addition, we find that masking based targets, in general, are significantly better than spectral envelope based targets. We also present comparisons with recent methods in non-negative matrix factorization and speech enhancement, which show clear performance advantages of supervised speech separation. PMID:25599083

  4. Making Supervision Relationships Accountable: Graduate Student Logs.

    Science.gov (United States)

    Yeatman, Anna

    1995-01-01

    Graduate student journals of research projects and their supervision are suggested as a means of structuring the supervisory process, making it more accountable, and facilitating students' successful completion of their academic and research tasks. However, the method also requires skill in successful thesis production on the supervisor's part.…

  5. How to Supervise a Ph.D.

    Science.gov (United States)

    Connell, R. W.

    1985-01-01

    A discussion of the process and problems of supervising a doctoral candidate examines the nature of the task and relationship, the stages of research (defining the topic, design, gathering material, writing, defense, and dissemination), criticism and intellectual growth, and references and sponsorship. (MSE)

  6. Parallelprocesser og deres tilblivelse i supervision

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard

    2006-01-01

    Kapitlet beskæftiger sig med ”Parallelprocesser og deres tilblivelse i supervision”. Først indkredses parallelprocesbegrebet i dets mange variationer. Der er tale om et nøglebegreb i psykoanalytisk supervision, der overordnet set henviser til en relationel positionering eller tematik i...

  7. Exploring Principals' Perceptions of Supervised Agricultural Experience

    Science.gov (United States)

    Rayfield, John; Wilson, Elizabeth

    2009-01-01

    This study explored the perceptions of principals at high schools with agricultural education programs in regard to Supervised Agricultural Experience (SAE). There is evidence that suggests that high school principals' attitudes may both directly and indirectly affect factors that influence school climate and student achievement. In this study,…

  8. A Social Reconstruction Model of Supervision.

    Science.gov (United States)

    Seda, E. Elliott

    This paper presents a social reconstructionist model of supervision. The model connects schools and society, and considers the vital role teachers, students, staff, and others play in developing, designing, and implementing reforms in school and society. The model is based on the philosophy of social reconstructionism, which views schools as…

  9. Experiences of Supervision at Practice Placement Sites

    Directory of Open Access Journals (Sweden)

    Lesley Diack

    2014-01-01

    Full Text Available Background. Whilst placement supervision and clinical education programmes are of significant value in shaping the behaviours of undergraduate healthcare students, appropriate provisions which are efficacious to the learner are somewhat lacking, particularly for students studying on UK MPharm programmes. Objectives. To explore and explain the value of placement supervision to the personal development and employability of undergraduate pharmacy students. Methods. Students participated in a week long community pharmacy pilot programme, a result of a collaborative effort between the School of Pharmacy and Life Sciences and a small consortium of community pharmacies. Students and stakeholders were asked to evaluate their experiences via separate questionnaires which had been developed to elicit views and attitudes. Key Findings. Feedback from students and stakeholders towards the experience was overwhelmingly positive with multiple benefits being reported. Of particular prominence was the emphasis in student feedback on the value of placement supervision to their professional and personal development. Findings were indicative of a development in clinical practice proficiencies, core skills, and improvement in decision-making practice. Conclusions. The benefits of clinical supervision to the professional and personal development of MPharm students are well documented, although attracting professional pharmacy supervisors is proving a problematic task for educational providers in the UK.

  10. Rendezvous technique treatment for late-onset biliary leakage after major hepatectomy of a living donor: report of a case.

    Science.gov (United States)

    Kimura, Koichi; Ikegami, Toru; Yamashita, Yo-ichi; Saeki, Hiroshi; Oki, Eiji; Yoshizumi, Tomoharu; Uchiyama, Hideaki; Kawanaka, Hirofumi; Soejima, Yuji; Morita, Masaru; Shirabe, Ken; Ikeda, Tetsuo; Maehara, Yoshihiko

    2013-09-01

    Biliary leakage is a major complication after hepatectomy. We report the case of a living-donor liver transplantation (LDLT) donor with a late-onset bile leak from the trifurcation of the hepatic duct who was successfully treated using rendezvous technique. A 52-year-old man underwent extended left hepatectomy for donation and was discharged on postoperative day (PD) 13. However, he was rehospitalized on PD 26 with severe abdominal pain. Physical examination suggested panperitonitis, and abdominocentesis showed bilious ascites. Emergent laparotomy for biliary leakage and peritonitis was performed. There was bilious ascites in the peritoneal cavity. A biliary fistula was recognized at the trifurcation of B8a, B8b, and B5. Intraoperative transhepatic biliary drainage of each bile duct was performed. Endoscopic transpapillary drainage was performed on PD 24. Finally, external drains were removed and complete internal drainage established on PD 70. The bile leak was considered to be the result of injury from electrocautery device. Appropriate making choices of the electrocautery devices enable us to avoid over thermal injury of the liver surface. Rendezvous bidirectional drainage effectively treated late-onset bile leakage from the trifurcation of a hepatic bile duct.

  11. Guidance Algorithms for Non-Drifting Trajectory Generation and Control in RendezVous Missions into Elliptical Orbits

    Science.gov (United States)

    DiSotto, Emanuele; Bastante, Juan Carlos; Drai, Remi

    2007-01-01

    Safety requirement represents one of the most critical aspect when defining the operational profile for a RendezVous mission. This requirement specially affects the design of the guidance algorithms that need to be tailored to guarantee what is normally referred to as Passive Trajectory Protection . The basic idea of passive trajectory protection is to design all the trajectory elements in an approach sequence such that if, at any point of the trajectory, thrust control ceases, the resulting free drift motion will remain collision free during a certain amount of time. This paper deals with the design and performances assessment of specific guidance algorithm addressing this issue. Firstly the problem is addressed for circular orbit using the Traveling Ellipse formulation for the relative motion. Secondly a solution for the RendezVous into a generic elliptical orbit is presented. This is based on a reduced transition matrix obtained through a description of the relative motion based on the first order variation of the orbital elements.

  12. Guidance and Control of Position and Attitude for Rendezvous and Dock/Berthing with a Noncooperative/Target Spacecraft

    Directory of Open Access Journals (Sweden)

    Gilberto Arantes

    2014-01-01

    Full Text Available Noncooperative target spacecrafts are those assets in orbit that cannot convey any information about their states (position, attitude, and velocities or facilitate rendezvous and docking/berthing (RVD/B process. Designing a guidance, navigation, and control (GNC module for the chaser in a RVD/B mission with noncooperative target should be inevitably solved for on-orbit servicing technologies. The proximity operations and the guidance for achieving rendezvous problems are addressed in this paper. The out-of-plane maneuvers of proximity operations are explored with distinct subphases, including a chaser far approach in the target’s orbit to the first hold point and a closer approach to the final berthing location. Accordingly, guidance solutions are chosen for each subphase from the standard Hill based Closhessy-Willtshire (CW solution, elliptical fly-around, and Glideslope algorithms. The control is based on a linear quadratic regulator approach (LQR. At the final berthing location, attitude tracker based on a proportional derivative (PD form is tested to synchronize the chaser and target attitudes. The paper analyzes the performance of both controllers in terms of the tracking ability and the robustness. Finally, it prescribes any restrictions that may be imposed on the guidance during any subphase which can help to improve the controllers tracking ability.

  13. SIRTF autonomous star tracker

    Science.gov (United States)

    van Bezooijen, Roelof W. H.

    2003-03-01

    Two redundant AST-301 autonomous star trackers (AST) serve as the primary attitude sensors for JPL's space infrared telescope facility (SIRTF). These units, which employ a 1553B interface to output their attitude quaternions and uncertainty at a 2 Hz rate, provide a 1 σaccuracy of better than 0.18, 0.18, and 5.1 arcsec about their X, Y, and Z axes, respectively. This is a factor 5.5 better than the accuracy of the flight-proven AST-201 from which the trackers were derived. To obtain this improvement, the field of view (FOV) was reduced to 5 by 5 degrees, the accurate Tycho-1 and ACT catalogs were used for selecting the 71,830 guide stars, star image centroiding was improved to better than 1/50th of a pixel, and optimal attitude estimation was implemented. In addition, the apparent direction to each guide star in the FOV is compensated for proper motion, parallax, velocity aberration, and optical distortion. The AST-301 employs autonomous time-delayed integration (TDI) to achieve image motion compensation (IMC) about its X axis that prevents accuracy degradation, even at rates of 2.1 deg/s, making it actually suitable for use on spinning spacecraft. About the Y axis, a software function called "image motion accommodation" (IMA) processes smeared images to maximize the signal to noise ratio of the resulting synthetic images, which enables robust and accurate tracking at rates tested up to 0.42 deg/s. The AST-301 is capable of acquiring its attitude anywhere in the sky in less than 3 seconds with a 99.98% probability of success, without requiring any a priori attitude knowledge. Following a description of the 7.1 kg AST-301, its operation and IMA, the methodology for translating the night sky test data into performance numbers is presented, while, in addition, the results of tests used to measure alignment stability over temperature are included.

  14. Supervisor's HEXACO personality traits and subordinate perceptions of abusive supervision

    NARCIS (Netherlands)

    Breevaart, Kimberley; Vries, de Reinout E.

    2017-01-01

    Abusive supervision is detrimental to both subordinates and organizations. Knowledge about individual differences in personality related to abusive supervision may improve personnel selection and potentially reduce the harmful effects of this type of leadership. Using the HEXACO personality framewor

  15. Rules for Supervision and Inspection of Offshore Oil Industry

    Institute of Scientific and Technical Information of China (English)

    Dai Zhongliang; Song Lisong

    1994-01-01

    @@ In short,safety supervision and technique inspection mean the safety supervision by the government,and the inspection by technical organization,and those are put into practice by a series of administrative rules and regulations.

  16. A Sampling Based Approach to Spacecraft Autonomous Maneuvering with Safety Specifications

    Science.gov (United States)

    Starek, Joseph A.; Barbee, Brent W.; Pavone, Marco

    2015-01-01

    This paper presents a methods for safe spacecraft autonomous maneuvering that leverages robotic motion-planning techniques to spacecraft control. Specifically the scenario we consider is an in-plan rendezvous of a chaser spacecraft in proximity to a target spacecraft at the origin of the Clohessy Wiltshire Hill frame. The trajectory for the chaser spacecraft is generated in a receding horizon fashion by executing a sampling based robotic motion planning algorithm name Fast Marching Trees (FMT) which efficiently grows a tree of trajectories over a set of probabillistically drawn samples in the state space. To enforce safety the tree is only grown over actively safe samples for which there exists a one-burn collision avoidance maneuver that circularizes the spacecraft orbit along a collision-free coasting arc and that can be executed under potential thrusters failures. The overall approach establishes a provably correct framework for the systematic encoding of safety specifications into the spacecraft trajectory generations process and appears amenable to real time implementation on orbit. Simulation results are presented for a two-fault tolerant spacecraft during autonomous approach to a single client in Low Earth Orbit.

  17. Framework for Autonomous Optimization Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Phoenix Integration and MIT propose to create a novel autonomous optimization tool and application programming interface (API). The API will demonstrate the ability...

  18. Cranial Autonomic Symptoms in Migraine

    Directory of Open Access Journals (Sweden)

    J Gordon Millichap

    2009-11-01

    Full Text Available Cranial autonomic symptoms (CAS in patients with migraine and cluster headaches (CH were characterized and compared in a prospective study of consecutive patients attending a headache clinic at Taipei Veterans General Hospital, Taiwan.

  19. Deep Learning at 15PF: Supervised and Semi-Supervised Classification for Scientific Data

    OpenAIRE

    Kurth, Thorsten; Zhang, Jian; Satish, Nadathur; Mitliagkas, Ioannis; Racah, Evan; Patwary, Mostofa Ali; Malas, Tareq; Sundaram, Narayanan; Bhimji, Wahid; Smorkalov, Mikhail; Deslippe, Jack; Shiryaev, Mikhail; Sridharan, Srinivas; Prabhat; Dubey, Pradeep

    2017-01-01

    This paper presents the first, 15-PetaFLOP Deep Learning system for solving scientific pattern classification problems on contemporary HPC architectures. We develop supervised convolutional architectures for discriminating signals in high-energy physics data as well as semi-supervised architectures for localizing and classifying extreme weather in climate data. Our Intelcaffe-based implementation obtains $\\sim$2TFLOP/s on a single Cori Phase-II Xeon-Phi node. We use a hybrid strategy employin...

  20. Development of well construction and workover supervising in Russian Federation

    Science.gov (United States)

    Sizov, A.; Boyarko, G.; Shenderova, I.

    2014-08-01

    Despite long history of drilling supervising it still has a number of uncertainties. The period of rapid rise in supervising development at the beginning of the 90's changed in the 2000's. The necessity in the development of this sphere is obvious. The author describes the history of supervising, period of its market condition adaptation. The research also gives principles methods of supervising development and first steps for its position improvement.

  1. 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.

  2. Is paramecium swimming autonomic?

    Science.gov (United States)

    Bandyopadhyay, Promode R.; Toplosky, Norman; Hansen, Joshua

    2010-11-01

    We seek to explore if the swimming of paramecium has an underlying autonomic mechanism. Such robotic elements may be useful in capturing the disturbance field in an environment in real time. Experimental evidence is emerging that motion control neurons of other animals may be present in paramecium as well. The limit cycle determined using analog simulation of the coupled nonlinear oscillators of olivo-cerebellar dynamics (ieee joe 33, 563-578, 2008) agrees with the tracks of the cilium of a biological paramecium. A 4-motor apparatus has been built that reproduces the kinematics of the cilium motion. The motion of the biological cilium has been analyzed and compared with the results of the finite element modeling of forces on a cilium. The modeling equates applied torque at the base of the cilium with drag, the cilium stiffness being phase dependent. A low friction pendulum apparatus with a multiplicity of electromagnetic actuators is being built for verifying the maps of the attractor basin computed using the olivo-cerebellar dynamics for different initial conditions. Sponsored by ONR 33.

  3. AUTONOMOUS GAUSSIAN DECOMPOSITION

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-04-15

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

  4. [Autonomic peripheral neuropathy].

    Science.gov (United States)

    Adams, David; Cauquil, Cecile; Lozeron, Pierre

    2012-11-01

    The mechanisms of dysautonomic disturbances are varied and mostly acquired. They can result from lesions of sympathetic or parasympathetic vegetative fibers located in the peripheral contingent, or in the somatic contingent by demyelination or axonal loss; or more rarely by cellular bodies in the sympathetic or parasympathetic ganglia. Several chronic peripheral neuropathies can be associated with dysautonomia. Only some causes need to be known because they can be clinically significant. Dysautonomia may be seen during chronic acquired neuropathies but also acute or subacute ones. The most frequent cause in the world is the dysautonomia of the diabetes; it affects all the systems; the cardiovascular dysfunction has an impact on the prognosis for survival when it is severe. Hereditary autonomic neuropathies are rare; they can declare themselves very early during the Riley-Day syndrome or very late during amyloid polyneuropathies due to transthyretin gene mutation. The diagnosis can be confirmed by molecular biology. The dysautonomia is frequent and often severe. These neuropathies justify symptomatic treatment to improve quality of life. For some of them, a specific treatment can be proposed to treat the causal affection to try to stop the progression of the disease.

  5. Clients' Views of Live Supervision and Satisfaction with Therapy.

    Science.gov (United States)

    Locke, Lisa D.; McCollum, Eric E.

    2001-01-01

    Examines clients' perceptions of live supervision and their satisfaction with therapy in a university-based training clinic for marriage and family therapists. Results indicate that clients were generally satisfied with therapy and found the live-supervision process satisfactory as long as the perceived helpfulness of live supervision outweighed…

  6. Supervising development in petroleum industry of the Russian Federation

    OpenAIRE

    Sizov, Aleksey Valentinovich; Tretyakov, Konstantin Nikolaevich; Boyarko, Grigory Yurievich; Shenderova, Inna Vladimirovna; Shakirov, A.

    2015-01-01

    Supervising has strongly consolidated in the domestic petroleum services market of the Russian Federation. But despite the rapid growth of the supervising services market, there is a definite need for its further development. In the article, the developments of supervising in petroleum industry of the Russian Federation, as well as possible ways of its improvement are considered.

  7. Does Live Supervision Make a Difference? A Multilevel Analysis

    Science.gov (United States)

    Silverthorn, Brandon C.; Bartle-Haring, Suzanne; Meyer, Kevin; Toviessi, Paula

    2009-01-01

    While the benefit of live supervision on clinical training is largely unquestioned, research that examines how live supervision affects the therapeutic process is lacking. Although marriage and family therapy has embraced this method of supervision, there is little empirical evidence suggesting it "works." This study uses hierarchical linear…

  8. A Delphi Study and Initial Validation of Counselor Supervision Competencies

    Science.gov (United States)

    Neuer Colburn, Anita A.; Grothaus, Tim; Hays, Danica G.; Milliken, Tammi

    2016-01-01

    The authors addressed the lack of supervision training standards for doctoral counseling graduates by developing and validating an initial list of supervision competencies. They used content analysis, Delphi polling, and content validity methods to generate a list, vetted by 2 different panels of supervision experts, of 33 competencies grouped…

  9. Style and Quality in Research Supervision: The Supervisor Dependency Factor.

    Science.gov (United States)

    Kam, Booi Hon

    1997-01-01

    A survey of 250 graduate research students examined the extent of dependency on supervisors in a range of research-related tasks, and how that dependency affected the research supervision process. Results suggest appropriate research supervision has no set prescription, but interactions among quality and style of supervision, role expectations of…

  10. Testing Group Supervision in Fieldwork Training for Social Work Students

    Science.gov (United States)

    Zeira, Anat; Schiff, Miriam

    2010-01-01

    This study monitors group supervision for students' field training in a Bachelor's Degree in Social Work (BSW) program and compares it with the experience of the students receiving the traditional individual supervision. The experimental group supervision model is implemented in two consecutive years. Students' experiences are compared at three…

  11. 18 CFR 367.9110 - Account 911, Supervision.

    Science.gov (United States)

    2010-04-01

    ..., Supervision. 367.9110 Section 367.9110 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY... ACT Operation and Maintenance Expense Chart of Accounts § 367.9110 Account 911, Supervision. This account must include the cost of labor and expenses incurred in the general direction and supervision...

  12. 28 CFR 2.95 - Early termination from supervision.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 1 2010-07-01 2010-07-01 false Early termination from supervision. 2.95 Section 2.95 Judicial Administration DEPARTMENT OF JUSTICE PAROLE, RELEASE, SUPERVISION AND RECOMMITMENT... Parolees § 2.95 Early termination from supervision. (a)(1) Upon its own motion or upon request of a...

  13. Testing Group Supervision in Fieldwork Training for Social Work Students

    Science.gov (United States)

    Zeira, Anat; Schiff, Miriam

    2010-01-01

    This study monitors group supervision for students' field training in a Bachelor's Degree in Social Work (BSW) program and compares it with the experience of the students receiving the traditional individual supervision. The experimental group supervision model is implemented in two consecutive years. Students' experiences are compared at three…

  14. 25 CFR 213.43 - Relinquishment of Government supervision.

    Science.gov (United States)

    2010-04-01

    ... 25 Indians 1 2010-04-01 2010-04-01 false Relinquishment of Government supervision. 213.43 Section... Relinquishment of Government supervision. All oil and gas leases hereafter executed shall contain the following relinquishment of supervision clause and terms operative after such relinquishment, or other provisions...

  15. 48 CFR 32.503-2 - Supervision of progress payments.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 1 2010-10-01 2010-10-01 false Supervision of progress... GENERAL CONTRACTING REQUIREMENTS CONTRACT FINANCING Progress Payments Based on Costs 32.503-2 Supervision of progress payments. (a) The extent of progress payments supervision, by prepayment review...

  16. 34 CFR 303.501 - Supervision and monitoring of programs.

    Science.gov (United States)

    2010-07-01

    ... 34 Education 2 2010-07-01 2010-07-01 false Supervision and monitoring of programs. 303.501 Section... INFANTS AND TODDLERS WITH DISABILITIES State Administration General § 303.501 Supervision and monitoring... supervision of programs and activities receiving assistance under this part; and (2) The monitoring...

  17. 7 CFR 27.73 - Supervision of transfers of cotton.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 2 2010-01-01 2010-01-01 false Supervision of transfers of cotton. 27.73 Section 27... Supervision of transfers of cotton. Whenever the owner of any cotton inspected and sampled for classification... be effected under the supervision of an exchange inspection agency or a supervisor of...

  18. 28 CFR 570.44 - Supervision and restraint requirements.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Supervision and restraint requirements... PROGRAMS AND RELEASE COMMUNITY PROGRAMS Escorted Trips § 570.44 Supervision and restraint requirements. Inmates under escort will be within the constant and immediate visual supervision of escorting staff...

  19. 18 CFR 367.9070 - Account 907, Supervision.

    Science.gov (United States)

    2010-04-01

    ..., Supervision. 367.9070 Section 367.9070 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY... ACT Operation and Maintenance Expense Chart of Accounts § 367.9070 Account 907, Supervision. This account must include the cost of labor and expenses incurred in the general direction and supervision...

  20. 9 CFR 590.418 - Supervision of marking and packaging.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Supervision of marking and packaging...) Identifying and Marking Product § 590.418 Supervision of marking and packaging. (a) Evidence of label approval... container except by an inspector or under the supervision of an inspector or other person authorized by...

  1. 49 CFR 237.133 - Supervision of repairs and modifications.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Supervision of repairs and modifications. 237.133... Supervision of repairs and modifications. Each repair or modification pursuant to this part shall be performed under the immediate supervision of a railroad bridge supervisor as defined in § 237.55 of this part...

  2. 48 CFR 852.236-78 - Government supervision.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Government supervision. 852.236-78 Section 852.236-78 Federal Acquisition Regulations System DEPARTMENT OF VETERANS AFFAIRS... Government supervision. As prescribed in 836.572, insert the following clause: Government Supervision...

  3. 7 CFR 27.80 - Fees; classification, Micronaire, and supervision.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 2 2010-01-01 2010-01-01 false Fees; classification, Micronaire, and supervision. 27... Classification and Micronaire § 27.80 Fees; classification, Micronaire, and supervision. For services rendered by... classification and Micronaire determination results certified on cotton class certificates.) (e) Supervision,...

  4. 46 CFR 380.23 - Supervision of records.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 8 2010-10-01 2010-10-01 false Supervision of records. 380.23 Section 380.23 Shipping... § 380.23 Supervision of records. (a) Contractors and others subject to the provisions of this subpart... shall be responsible for supervision of its document retention and disposal program. Immediately...

  5. 18 CFR 367.9010 - Account 901, Supervision.

    Science.gov (United States)

    2010-04-01

    ..., Supervision. 367.9010 Section 367.9010 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY... ACT Operation and Maintenance Expense Chart of Accounts § 367.9010 Account 901, Supervision. This account must include the cost of labor and expenses incurred in the general direction and supervision...

  6. 46 CFR 131.420 - Manning and supervision.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Manning and supervision. 131.420 Section 131.420 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OFFSHORE SUPPLY VESSELS OPERATIONS Sufficiency and Supervision of Crew of Survival Craft § 131.420 Manning and supervision. (a) There must...

  7. 33 CFR 6.12-1 - General supervision and control.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false General supervision and control... GENERAL PROTECTION AND SECURITY OF VESSELS, HARBORS, AND WATERFRONT FACILITIES Supervision and Control of Explosives or Other Dangerous Cargo § 6.12-1 General supervision and control. The Captain of the Port...

  8. 34 CFR 300.149 - SEA responsibility for general supervision.

    Science.gov (United States)

    2010-07-01

    ... 34 Education 2 2010-07-01 2010-07-01 false SEA responsibility for general supervision. 300.149... EDUCATION OF CHILDREN WITH DISABILITIES State Eligibility Sea Responsibility for General Supervision and Implementation of Procedural Safeguards § 300.149 SEA responsibility for general supervision. (a) The SEA...

  9. 7 CFR 58.6 - Supervision of service.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 3 2010-01-01 2010-01-01 false Supervision of service. 58.6 Section 58.6 Agriculture... Grading Service § 58.6 Supervision of service. All inspection or grading service shall be subject to supervision by a supervisory inspector or grader, Area Supervisor, or by the Chief, or such other person...

  10. 7 CFR 27.16 - Inspection; weighing; samples; supervision.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 2 2010-01-01 2010-01-01 false Inspection; weighing; samples; supervision. 27.16... Samples § 27.16 Inspection; weighing; samples; supervision. The inspection, weighing, and sampling of... Services Office shall be (a) under the supervision of a supervisor of cotton inspection, or (b) by or...

  11. 9 CFR 592.340 - Supervision of marking and packaging.

    Science.gov (United States)

    2010-01-01

    ... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Supervision of marking and packaging... § 592.340 Supervision of marking and packaging. (a) Evidence of label approval. Inspection program... product or container thereof except by an inspection program employee or under the supervision of...

  12. Status of Clinical Supervision among School Counselors in Southeast Georgia

    Science.gov (United States)

    Black, Anna Lila; Bailey, Carrie Lynn; Bergin, James J.

    2011-01-01

    Previous studies have investigated the role of clinical supervision in school counseling practice. This research explored the status and meaning of clinical supervision to school counselors employed in two southeastern Georgia counties. Results indicate that participants value clinical supervision even though their employers did not necessarily…

  13. 30 CFR 250.1616 - Supervision, surveillance, and training.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 2 2010-07-01 2010-07-01 false Supervision, surveillance, and training. 250.1616 Section 250.1616 Mineral Resources MINERALS MANAGEMENT SERVICE, DEPARTMENT OF THE INTERIOR... Supervision, surveillance, and training. (a) The lessee shall provide onsite supervision of...

  14. 12 CFR 905.13 - Office of Supervision.

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 7 2010-01-01 2010-01-01 false Office of Supervision. 905.13 Section 905.13... OPERATIONS DESCRIPTION OF ORGANIZATION AND FUNCTIONS General Organization § 905.13 Office of Supervision. (a) General. The Office of Supervision is responsible for conducting on-site examinations of the...

  15. 27 CFR 19.970 - Supervision of operations.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Supervision of operations..., DEPARTMENT OF THE TREASURY LIQUORS DISTILLED SPIRITS PLANTS Distilled Spirits For Fuel Use Supervision § 19.970 Supervision of operations. The appropriate TTB officer may assign appropriate TTB officers...

  16. 7 CFR 1944.665 - Supervision and inspection of work.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 13 2010-01-01 2009-01-01 true Supervision and inspection of work. 1944.665 Section 1944.665 Agriculture Regulations of the Department of Agriculture (Continued) RURAL HOUSING SERVICE... Supervision and inspection of work. Grantees are responsible for supervising all rehabilitation and...

  17. 33 CFR 326.4 - Supervision of authorized activities.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Supervision of authorized..., DEPARTMENT OF DEFENSE ENFORCEMENT § 326.4 Supervision of authorized activities. (a) Inspections. District... Government unless daily supervision or other unusual expenses are involved. In such unusual cases,...

  18. Higher Degree Research Supervision: From Practice toward Theory

    Science.gov (United States)

    Maxwell, T. W.; Smyth, Robyn

    2011-01-01

    This paper presents our theorizing about the complex nature of higher degree research supervision. The intent is to make a contribution to the current debates about higher education generally, and supervision of higher degree research students in particular. We add to the pedagogy of supervision by extending its scope to and beyond the supervisory…

  19. Integrating Creativity into Supervision Using Bernard's Discrimination Model

    Science.gov (United States)

    Koltz, Rebecca L.

    2008-01-01

    Clinical supervision is an important aspect of counselor education. Much of traditional supervision is conducted from a logical standpoint; however, some supervisees may be better served when supervisors integrate both logic and creativity. This article presents the integration of creative activities into supervision using Bernard's Discrimination…

  20. Effective Yard Supervision: From Needs Assessment to Customized Training

    Science.gov (United States)

    Sharkey, Jill D.; Hunnicutt, Kayleigh L.; Mayworm, Ashley M.; Schiedel, K. Chris; Calcagnotto, Leandro

    2014-01-01

    Most educational scholars agree that appropriate supervision of children is critical for positive youth development. Supervision is especially important during situations where children have a large degree of freedom and unstructured interaction, such as during recess. Despite the apparent importance of supervision of children at recess, there is…

  1. Educational Technology and Distance Supervision in Counselor Education

    Science.gov (United States)

    Carlisle, Robert Milton; Hays, Danica G.; Pribesh, Shana L.; Wood, Chris T.

    2017-01-01

    The authors used a nonexperimental descriptive design to examine the prevalence of distance supervision in counselor education programs, educational technology used in supervision, training on technology in supervision, and participants' (N = 673) perceptions of legal and ethical compliance. Program policies are recommended to guide the training…

  2. Counseling Supervision within a Feminist Framework: Guidelines for Intervention

    Science.gov (United States)

    Degges-White, Suzanne E.; Colon, Bonnie R.; Borzumato-Gainey, Christine

    2013-01-01

    Feminist supervision is based on the principles of feminist theory. Goals include sharing responsibility for the supervision process, empowering the supervisee, attending to the contextual assumptions about clients, and analyzing gender roles. This article explores feminist supervision and guidelines for providing counseling supervision…

  3. 19 CFR 19.38 - Supervision of exportation.

    Science.gov (United States)

    2010-04-01

    ... the sales ticket procedure for exportation shall be exported only under Customs supervision as... exportation transactions, examination of articles being exported, and audits of the proprietor's records. (b) Supervision of ATF bonded exports. Customs officers may conduct general supervision of exportations...

  4. Imaging Flash Lidar for Autonomous Safe Landing and Spacecraft Proximity Operation

    Science.gov (United States)

    Amzajerdian, Farzin; Roback, Vincent E.; Brewster, Paul F.; Hines, Glenn D.; Bulyshev, Alexander E.

    2016-01-01

    3-D Imaging flash lidar is recognized as a primary candidate sensor for safe precision landing on solar system bodies (Moon, Mars, Jupiter and Saturn moons, etc.), and autonomous rendezvous proximity operations and docking/capture necessary for asteroid sample return and redirect missions, spacecraft docking, satellite servicing, and space debris removal. During the final stages of landing, from about 1 km to 500 m above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard fli1ght computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station from several kilometers distance. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16k pixels range images with 7 cm precision, at a 20 Hz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument design and capabilities as demonstrated by the closed-loop flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus). Then a plan for continued advancement of the flash lidar technology will be explained. This proposed plan is aimed at the development of a common sensor that with a modest design adjustment can meet the needs of both landing and proximity operation and docking applications.

  5. Visual Odometry for Autonomous Deep-Space Navigation Project

    Science.gov (United States)

    Robinson, Shane; Pedrotty, Sam

    2016-01-01

    Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory's considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm's performance and ability to process 'flight-like' imagery formats with a 'flight-like' trajectory, positioning ourselves to easily process flight data from the upcoming 'ISS Selfie' activity and then compare the algorithm's quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system. Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

  6. Visual Odometry for Autonomous Deep-Space Navigation Project

    Science.gov (United States)

    Robinson, Shane; Pedrotty, Sam

    2016-01-01

    Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory’s considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm’s performance and ability to process ‘flight-like’ imagery formats with a ‘flight-like’ trajectory, positioning ourselves to easily process flight data from the upcoming ‘ISS Selfie’ activity and then compare the algorithm’s quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system.Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

  7. Autonomous Cleaning of Corrupted Scanned Documents - A Generative Modeling Approach

    CERN Document Server

    Dai, Zhenwen

    2012-01-01

    We study the task of cleaning scanned text documents that are strongly corrupted by dirt such as manual line strokes, spilled ink etc. We aim at autonomously removing dirt from a single letter-size page based only on the information the page contains. Our approach, therefore, has to learn character representations without supervision and requires a mechanism to distinguish learned representations from irregular patterns. To learn character representations, we use a probabilistic generative model parameterizing pattern features, feature variances, the features' planar arrangements, and pattern frequencies. The latent variables of the model describe pattern class, pattern position, and the presence or absence of individual pattern features. The model parameters are optimized using a novel variational EM approximation. After learning, the parameters represent, independent of their absolute position, planar feature arrangements and their variances. A quality measure defined based on the learned representation the...

  8. Effect of an aerobic exercise intervention on cardiac autonomic regulation

    DEFF Research Database (Denmark)

    Hallman, David M; Holtermann, Andreas; Søgaard, Karen

    2017-01-01

    =116) were randomized to an aerobic exercise group (n=59) or a reference group (n=57) with lectures. The intervention group received two 30-min sessions per week of supervised aerobic exercise over 4months. Diurnal measurements of heart rate variability (HRV) and physical activity (accelerometry) were...... and daily use of antihypertensive and/or heart medication. RESULTS: Compared with the reference group, the exercise group increased all HRV indices apart from a reduction in LF/HF ratio from baseline to follow-up both during work (p...OBJECTIVE: The aim of this randomized controlled trial (RCT) was to determine whether aerobic exercise during work hours affects cardiac autonomic regulation in cleaners characterized by high levels of occupational physical activity and poor cardiorespiratory fitness. METHOD: Eligible cleaners (n...

  9. University Supervision within Physical Education Teacher Education

    Science.gov (United States)

    Wright, Steven C.; Grenier, Michelle; Channell, Kathy

    2012-01-01

    Physical education teacher education (PETE) students are given opportunities in "early field experiences" (EFEs) to observe and assist experienced teachers in schools. Typically, students are then required to do some autonomous teaching, to give them practical experience in the real world of local schools. Ultimately students will move on to…

  10. Balancing Design Project Supervision and Learning Facilitation

    DEFF Research Database (Denmark)

    Nielsen, Louise Møller

    2012-01-01

    set of demands to the design lecturer. On one hand she is the facilitator of the learning process, where the students are in charge of their own projects, and where learning happens through the students’ own experiences, successes and mistakes and on the other hand she is a supervisor, who uses her...... experiences and expertise to guide the students’ decisions in relation to the design project. This paper focuses on project supervision in the context of design education – and more specifically on how this supervision is unfolded in a Problem Based Learning culture. The paper explores the supervisor......In design there is a long tradition for apprenticeship, as well as tradition for learning through design projects. Today many design educations are positioned within the University context, and have to be aligned with the learning culture and structure, which they represent. This raises a specific...

  11. Bias Modeling for Distantly Supervised Relation Extraction

    Directory of Open Access Journals (Sweden)

    Yang Xiang

    2015-01-01

    Full Text Available Distant supervision (DS automatically annotates free text with relation mentions from existing knowledge bases (KBs, providing a way to alleviate the problem of insufficient training data for relation extraction in natural language processing (NLP. However, the heuristic annotation process does not guarantee the correctness of the generated labels, promoting a hot research issue on how to efficiently make use of the noisy training data. In this paper, we model two types of biases to reduce noise: (1 bias-dist to model the relative distance between points (instances and classes (relation centers; (2 bias-reward to model the possibility of each heuristically generated label being incorrect. Based on the biases, we propose three noise tolerant models: MIML-dist, MIML-dist-classify, and MIML-reward, building on top of a state-of-the-art distantly supervised learning algorithm. Experimental evaluations compared with three landmark methods on the KBP dataset validate the effectiveness of the proposed methods.

  12. Balancing Design Project Supervision and Learning Facilitation

    DEFF Research Database (Denmark)

    Nielsen, Louise Møller

    2012-01-01

    experiences and expertise to guide the students’ decisions in relation to the design project. This paper focuses on project supervision in the context of design education – and more specifically on how this supervision is unfolded in a Problem Based Learning culture. The paper explores the supervisor......’s balance between the roles: 1) Design Project Supervisor – and 2) Learning Facilitator – with the aim to understand when to apply the different roles, and what to be aware of when doing so. This paper represents the first pilot-study of a larger research effort. It is based on a Lego Serious Play workshop......In design there is a long tradition for apprenticeship, as well as tradition for learning through design projects. Today many design educations are positioned within the University context, and have to be aligned with the learning culture and structure, which they represent. This raises a specific...

  13. The Supervised Learning Gaussian Mixture Model

    Institute of Scientific and Technical Information of China (English)

    马继涌; 高文

    1998-01-01

    The traditional Gaussian Mixture Model(GMM)for pattern recognition is an unsupervised learning method.The parameters in the model are derived only by the training samples in one class without taking into account the effect of sample distributions of other classes,hence,its recognition accuracy is not ideal sometimes.This paper introduces an approach for estimating the parameters in GMM in a supervising way.The Supervised Learning Gaussian Mixture Model(SLGMM)improves the recognition accuracy of the GMM.An experimental example has shown its effectiveness.The experimental results have shown that the recognition accuracy derived by the approach is higher than those obtained by the Vector Quantization(VQ)approach,the Radial Basis Function (RBF) network model,the Learning Vector Quantization (LVQ) approach and the GMM.In addition,the training time of the approach is less than that of Multilayer Perceptrom(MLP).

  14. Unusual Structural Autonomic Disorders Presenting in Pediatrics: Disorders Associated with Hypoventilation and Autonomic Neuropathies.

    Science.gov (United States)

    Chelimsky, Gisela; Chelimsky, Thomas

    2017-02-01

    Structural autonomic disorders (producing structural damage to the autonomic nervous system or autonomic centers) are far less common than functional autonomic disorders (reflected in abnormal function of a fundamentally normal autonomic nervous system) in children and teenagers. This article focuses on this uncommon first group in the pediatric clinic. These disorders are grouped into 2 main categories: those characterized by hypoventilation and those that feature an autonomic neuropathy. Copyright © 2016 Elsevier Inc. All rights reserved.

  15. Mission Planning of Fast Rendezvous Strategy around the Moon%环月远程快速交会任务规划

    Institute of Scientific and Technical Information of China (English)

    陈欢; 张洪礼; 韩潮; 彭坤; 马晓兵; 胡雯婷

    2016-01-01

    Co⁃ellipse fast rendezvous strategy was presented as the standard strategy for the remote rendezvous between the lunar module and the command and service module around the moon in a manned landing and return mission. Fuel⁃optimal co⁃ellipse fast rendezvous strategy considering the constraints of total rendezvous time, maneuver time interval and fuel⁃optimal efficiency, and time⁃optimal co⁃ellipse fast rendezvous strategy considering the constraints of total velocity increment, ma⁃neuver time interval and time⁃optimal efficiency, were introduced. Several numerical simulations were conducted to test the feasibility and precision of the standard, fuel⁃optimal and time⁃optimal co⁃ellipse rendezvous strategies. Analysis of the relationship between the total velocity increment and the rendezvous time was also conducted to confirm the feasibility of the optimal strategies.%针对载人登月返回任务中月面上升舱与指挥服务舱的环月远程快速交会问题,以共椭圆快速交会策略为标称策略,并给出摄动模型下的修正方法。给出考虑总交会时间约束、机动时间间隔约束和燃料优化效率的燃料最优共椭圆快速交会策略,以及考虑总速度增量约束、机动时间间隔约束和时间优化效率的时间最优共椭圆快速交会策略。通过算例仿真验证了共椭圆快速交会策略的可行性以及摄动模型下的交会精度,对共椭圆快速交会策略的总速度增量与交会时间的关系进行分析,并对比燃料最优和时间最优共椭圆快速交会对接策略,证明了优化策略的有效性。

  16. Bias Modeling for Distantly Supervised Relation Extraction

    OpenAIRE

    Yang Xiang; Yaoyun Zhang; Xiaolong Wang; Yang Qin; Wenying Han

    2015-01-01

    Distant supervision (DS) automatically annotates free text with relation mentions from existing knowledge bases (KBs), providing a way to alleviate the problem of insufficient training data for relation extraction in natural language processing (NLP). However, the heuristic annotation process does not guarantee the correctness of the generated labels, promoting a hot research issue on how to efficiently make use of the noisy training data. In this paper, we model two types of biases to reduce...

  17. Equality of Opportunity in Supervised Learning

    OpenAIRE

    Hardt, Moritz; Price, Eric; Srebro, Nathan

    2016-01-01

    We propose a criterion for discrimination against a specified sensitive attribute in supervised learning, where the goal is to predict some target based on available features. Assuming data about the predictor, target, and membership in the protected group are available, we show how to optimally adjust any learned predictor so as to remove discrimination according to our definition. Our framework also improves incentives by shifting the cost of poor classification from disadvantaged groups to...

  18. Enhance International Cooperation to Promote Technology Supervision

    Institute of Scientific and Technical Information of China (English)

    Li Helin; Terry Qin

    1995-01-01

    @@ Tubular Goods Research Center(TGRC) is not only a scientific research institution of CNPC, but also the Tubular goods Quality Supervising, Inspection and Testing Center, the OCTG Thread Gage Measurement and Certification Agency, the secretariat of Tubular Goods Technical Committee of China Petroleum Standardization Committee,the National Laboratory of OCTG Certification for China Administration of Import and Export Commodity Inspection, Oil field Tubular Goods and Equipment Subcenter of Failure Analysis and Prevention Center of China Science Association.

  19. Missing Data Imputation for Supervised Learning

    OpenAIRE

    Poulos, Jason; Valle, Rafael

    2016-01-01

    This paper compares methods for imputing missing categorical data for supervised learning tasks. The ability of researchers to accurately fit a model and yield unbiased estimates may be compromised by missing data, which are prevalent in survey-based social science research. We experiment on two machine learning benchmark datasets with missing categorical data, comparing classifiers trained on non-imputed (i.e., one-hot encoded) or imputed data with different degrees of missing-data perturbat...

  20. Complex networks and banking systems supervision

    Science.gov (United States)

    Papadimitriou, Theophilos; Gogas, Periklis; Tabak, Benjamin M.

    2013-10-01

    Comprehensive and thorough supervision of all banking institutions under a Central Bank’s regulatory control has become necessary as recent banking crises show. Promptly identifying bank distress and contagion issues is of great importance to the regulators. This paper proposes a methodology that can be used additionally to the standard methods of bank supervision or the new ones proposed to be implemented. By this, one can reveal the degree of banks’ connectedness and thus identify “core” instead of just “big” banks. Core banks are central in the network in the sense that they are shown to be crucial for network supervision. Core banks can be used as gauges of bank distress over a sub-network and promptly raise a red flag so that the central bank can effectively and swiftly focus on the corresponding neighborhood of financial institutions. In this paper we demonstrate the proposed scheme using as an example the asset returns variable. The method may and should be used with alternative variables as well.

  1. Supervised hub-detection for brain connectivity

    Science.gov (United States)

    Kasenburg, Niklas; Liptrot, Matthew; Reislev, Nina Linde; Garde, Ellen; Nielsen, Mads; Feragen, Aasa

    2016-03-01

    A structural brain network consists of physical connections between brain regions. Brain network analysis aims to find features associated with a parameter of interest through supervised prediction models such as regression. Unsupervised preprocessing steps like clustering are often applied, but can smooth discriminative signals in the population, degrading predictive performance. We present a novel hub-detection optimized for supervised learning that both clusters network nodes based on population level variation in connectivity and also takes the learning problem into account. The found hubs are a low-dimensional representation of the network and are chosen based on predictive performance as features for a linear regression. We apply our method to the problem of finding age-related changes in structural connectivity. We compare our supervised hub-detection (SHD) to an unsupervised hub-detection and a linear regression using the original network connections as features. The results show that the SHD is able to retain regression performance, while still finding hubs that represent the underlying variation in the population. Although here we applied the SHD to brain networks, it can be applied to any network regression problem. Further development of the presented algorithm will be the extension to other predictive models such as classification or non-linear regression.

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

    Data.gov (United States)

    National Aeronautics and Space Administration — SSCI and MIT propose to design, implement and test a comprehensive Integrated Mission Planning & Autonomous Control Technology (IMPACT) for Autonomous ISR...

  3. 28 CFR 2.206 - Travel approval and transfers of supervision.

    Science.gov (United States)

    2010-07-01

    ... supervision. 2.206 Section 2.206 Judicial Administration DEPARTMENT OF JUSTICE PAROLE, RELEASE, SUPERVISION... Supervised Releasees § 2.206 Travel approval and transfers of supervision. (a) A releasee's supervision officer may approve travel outside the district of supervision without approval of the Commission in...

  4. Disciplinary supervision following ethics complaints: goals, tasks, and ethical dimensions.

    Science.gov (United States)

    Thomas, Janet T

    2014-11-01

    Clinical supervision is considered an integral component of the training of psychologists, and most of the professional literature is focused on this type of supervision. But psychologists also may supervise fully credentialed colleagues in other circumstances. One such context occurs when licensing boards mandate supervision as part of a disciplinary order. When supervision is provided in disciplinary cases, there are significant implications for the ethical dimensions of the supervisory relationship and concomitant ethical challenges for supervisors. Not only are the goals, objectives, and supervisory tasks of disciplinary supervision distinct from other types of supervision, but the supervisor's ethical responsibilities also encompass unique dimensions. Competence, informed consent, boundaries, confidentiality, and documentation are examined. Recommendations for reports to licensing boards include a statement of the clinical or ethical problems instigating discipline, description of how these problems have been addressed, and an assessment of the supervisee's current practices and ability to perform competently.

  5. Projected estimators for robust semi-supervised classification

    DEFF Research Database (Denmark)

    Krijthe, Jesse H.; Loog, Marco

    2017-01-01

    For semi-supervised techniques to be applied safely in practice we at least want methods to outperform their supervised counterparts. We study this question for classification using the well-known quadratic surrogate loss function. Unlike other approaches to semi-supervised learning, the procedure...... proposed in this work does not rely on assumptions that are not intrinsic to the classifier at hand. Using a projection of the supervised estimate onto a set of constraints imposed by the unlabeled data, we find we can safely improve over the supervised solution in terms of this quadratic loss. More...... specifically, we prove that, measured on the labeled and unlabeled training data, this semi-supervised procedure never gives a lower quadratic loss than the supervised alternative. To our knowledge this is the first approach that offers such strong, albeit conservative, guarantees for improvement over...

  6. Autonomous and cooperative multi-UAV guidance in adversarial environment

    Science.gov (United States)

    Zengin, Ugur

    The research presented in this dissertation is aimed at developing rule-based autonomous and cooperative guidance strategies for UAVs to perform missions such as path planning, target tracking and rendezvous while reducing their risk/threat exposure level, and avoiding threats and/or obstacles by utilizing measurement information provided by sensors. First, a mathematical formulation is developed to represent the area of operation that contains various types of threats, obstacles, and restricted areas, in a single framework. Once constructed, there will be no need to distinguish between threats, obstacles and restricted areas as the framework already contains the information on what needs to be avoided and the level of penalty for a given position in the area. This framework provides the mathematical foundation for the guidance strategies to make intelligent decisions during the execution of the mission and also provides scalar metrics to assess the performance of a guidance strategy in a given mission. The autonomous guidance strategies are developed by using a rule-based expert system approach with the requirements of completing assigned mission or task, avoiding obstacle/restricted-areas, minimizing threat exposure level, considering the dynamic and communication constraints of the UAVs and avoiding collision. All these requirements and objectives are quantified and prioritized to facilitate the development of guidance algorithms that can be executed in real-time. The strategies consist of a set of "decision states", which contain rules to determine how the host UAV should move by generating heading and speed signals. Cooperation of multiple UAVs is modeled by minimizing a cost function, which is constructed based on the level of threat exposure for each UAV and distance of each UAV relative to the target. This improves the performance of the system in the terms of increasing the total area of coverage of the sensors onboard the UAVs, increasing the flexibility

  7. Global fuel consumption optimization of an open-time terminal rendezvous and docking with large-eccentricity elliptic-orbit by the method of interval analysis

    Science.gov (United States)

    Ma, Hongliang; Xu, Shijie

    2016-11-01

    By defining two open-time impulse points, the optimization of a two-impulse, open-time terminal rendezvous and docking with target spacecraft on large-eccentricity elliptical orbit is proposed in this paper. The purpose of optimization is to minimize the velocity increment for a terminal elliptic-reference-orbit rendezvous and docking. Current methods for solving this type of optimization problem include for example genetic algorithms and gradient based optimization. Unlike these methods, interval methods can guarantee that the globally best solution is found for a given parameterization of the input. The non-linear Tschauner- Hempel(TH) equations of the state transitions for a terminal elliptic target orbit are transformed form time domain to target orbital true anomaly domain. Their homogenous solutions and approximate state transition matrix for the control with a short true anomaly interval can be used to avoid interval integration. The interval branch and bound optimization algorithm is introduced for solving the presented rendezvous and docking optimization problem and optimizing two open-time impulse points and thruster pulse amplitudes, which systematically eliminates parts of the control and open-time input spaces that do not satisfy the path and final time state constraints. Several numerical examples are undertaken to validate the interval optimization algorithm. The results indicate that the sufficiently narrow spaces containing the global optimization solution for the open-time two-impulse terminal rendezvous and docking with target spacecraft on large-eccentricity elliptical orbit can be obtained by the interval algorithm (IA). Combining the gradient-based method, the global optimization solution for the discontinuous nonconvex optimization problem in the specifically remained search space can be found. Interval analysis is shown to be a useful tool and preponderant in the discontinuous nonconvex optimization problem of the terminal rendezvous and

  8. 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.

  9. Best Practices in Clinical Supervision: another step in delineating effective supervision practice.

    Science.gov (United States)

    Borders, L Dianne

    2014-01-01

    Across the helping professions, we have arrived at a point where it is possible to create statements of best practices in supervision that are based on available empirical research; credentialing, ethical, and legal guidelines; and consensus opinion. Best practices are different from, but certainly complementary to, statements of supervision competencies. In this paper, I highlight the differences between competencies and best practices, and then describe the development and content of one comprehensive statement, the Best Practices in Clinical Supervision created for the field of counseling and counselor education. I then illustrate the applicability of the Best Practices across disciplines and countries through a comparison and contrast with several other existing documents. I conclude with a brief look at the development of supervisor expertise, which requires not only declarative knowledge (competencies) and procedural knowledge (statements of best practices), but also reflective knowledge. The latter is composed of insights built over years of supervision education, experience, and self-reflection regarding necessary adaptions and improvisations that inform an individualized approach to supervision practice.

  10. Data Processing for the Near Earth Asteroid Rendezvous (NEAR), X-Ray and Gamma-Ray Spectrometer (XRS) Ground System

    Science.gov (United States)

    McClanahan, Timothy P.; Mikheeva, I.; Trombka, J. I.; Floyd, S. R.; Boynton, W. V.; Bailey, H.; Bhangoo, J.; Starr, R.; Clark, P. E.; Evans, L. G.

    1999-01-01

    An X-ray and Gamma-ray spectrometer (XGRS) is onboard the Near Earth Asteroid Rendezvous (NEAR) spacecraft to determine the elemental composition of the surface of the asteroid 433Eros. The Eros asteroid is highly non-spherical in physical shape and the development of data management and analysis methodologies are in several areas a divergence from traditional remotely sensed geographical information systems techniques. Field of view and asteroid surface geometry must be derived virtually and then combined with real measurements of solar, spectral and instrument calibration information to derive meaningful scientific results. Spatial resolution of planned geochemical maps will be improved from the initial conditions of low statistical significance per integration by repeated surface flyovers and regional spectral accumulation. This paper describes the results of a collaborative effort of design and development of the NEAR XGRS instrument ground system undertaken by participants at the Goddard Space Flight Center, University of Arizona, Cornell University, Applied Physics Laboratory, and Max Plank institute.

  11. Data Processing for the Near Earth Asteroid Rendezvous (NEAR), X-ray and Gamma-ray Spectrometer (XGRS) Ground System

    Science.gov (United States)

    McClanahan, Timothy P.; Mikheeva, I.; Trombka, J. I.; Floyd, S. R.; Boynton, W. V.; Bailey, H.; Bhangoo, J.; Starr, R.; Clark, P. E.; Evans, L. G.

    1999-01-01

    An X-ray and Gamma-ray spectrometer (XGRS) is onboard the Near Earth Asteroid Rendezvous (NEAR) spacecraft to determine the elemental composition of the surface of the asteroid 433Eros. The Eros asteroid is highly non-spherical in physical shape and the development of data management and analysis methodologies are in several areas a divergence from traditional remotely sensed geographical information systems techniques. Field of view and asteroid surface geometry must be derived virtually and then combined with real measurements of solar, spectral and instrument calibration information to derive meaningful scientific results. Spatial resolution of planned geochemical maps will be improved from the initial conditions of low statistical significance per integration by repeated surface flyovers and regional spectral accumulation. This paper describes the results of a collaborative effort of design and development of the NEAR XGRS instrument ground system undertaken by participants at the Goddard Space Flight Center, University of Arizona, Cornell University, Applied Physics Laboratory, and Max Plank institute.

  12. Autonomous mobile robots: Vehicles with cognitive control

    Energy Technology Data Exchange (ETDEWEB)

    Meystel, A.

    1987-01-01

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

  13. Autonomous hazard detection and avoidance

    Science.gov (United States)

    Pien, Homer

    1992-01-01

    During GFY 91, Draper Laboratory was awarded a task by NASA-JSC under contract number NAS9-18426 to study and evaluate the potential for achieving safe autonomous landings on Mars using an on-board autonomous hazard detection and avoidance (AHDA) system. This report describes the results of that study. The AHDA task had four objectives: to demonstrate, via a closed-loop simulation, the ability to autonomously select safe landing sites and the ability to maneuver to the selected site; to identify key issues in the development of AHDA systems; to produce strawman designs for AHDA sensors and algorithms; and to perform initial trade studies leading to better understanding of the effect of sensor/terrain/viewing parameters on AHDA algorithm performance. This report summarizes the progress made during the first year, with primary emphasis on describing the tools developed for simulating a closed-loop AHDA landing. Some cursory performance evaluation results are also presented.

  14. Autonomous underwater riser inspection tool

    Energy Technology Data Exchange (ETDEWEB)

    Camerini, Claudio; Marnet, Robson [Petrobras SA, (Brazil); Freitas, Miguel; Von der Weid, Jean Pierre [CPTI/PUC-Rio, Rio de Janeiro, (Brazil); Artigas Lander, Ricardo [EngeMOVI, Curitiba, (Brazil)

    2010-07-01

    The detection of damage on the riser is a serious concern for pipeline companies. Visual examinations by remotely operated vehicle (ROV) are presently carried out to detect the defects but this process has limitations and is expensive. This paper presents the development of a new tool to ensure autonomous underwater riser inspection (AURI) that uses the riser itself for guidance. The AURI, which is autonomous in terms of control and power supply, is equipped with several cameras that perform a complete visual inspection of the riser with 100 % coverage of the external surface of the riser. The paper presents the detailed characteristics of the first AURI prototype, describes its launching procedure and provides the preliminary test results from pool testing. The results showed that the AURI is a viable system for autonomous riser inspection. Offshore tests on riser pipelines are scheduled to be performed shortly.

  15. Hereditary sensory and autonomic neuropathies.

    Science.gov (United States)

    Auer-Grumbach, Michaela

    2013-01-01

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

  16. Discerning non-autonomous dynamics

    Science.gov (United States)

    Clemson, Philip T.; Stefanovska, Aneta

    2014-09-01

    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 the

  17. Autonomic Regulation of Splanchnic Circulation

    Directory of Open Access Journals (Sweden)

    Kathleen A Fraser

    1991-01-01

    Full Text Available The role of the autonomic nervous system in circulatory regulation of the splanchnic organs (stomach, small intestine, colon, liver, pancreas and spleen is reviewed. In general, the sympathetic nervous system is primarily involved in vasoconstriction, while the parasympathetic contributes to vasodilation. Vasoconstriction in the splanchnic circulation appears to be mediated by alpha-2 receptors and vasodilation by activation of primary afferent nerves with subsequent release of vasodilatory peptides, or by stimulation of beta-adrenergic receptors. As well, an important function of the autonomic nervous system is to provide a mechanism by which splanchnic vascular reserve can be mobilized during stress to maintain overall cardiovascular homeostasis.

  18. 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

  19. Miniature Autonomous Robotic Vehicle (MARV)

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.T.; Kwok, K.S.; Driessen, B.J.; Spletzer, B.L.; Weber, T.M.

    1996-12-31

    Sandia National Laboratories (SNL) has recently developed a 16 cm{sup 3} (1 in{sup 3}) autonomous robotic vehicle which is capable of tracking a single conducting wire carrying a 96 kHz signal. This vehicle was developed to assess the limiting factors in using commercial technology to build miniature autonomous vehicles. Particular attention was paid to the design of the control system to search out the wire, track it, and recover if the wire was lost. This paper describes the test vehicle and the control analysis. Presented in the paper are the vehicle model, control laws, a stability analysis, simulation studies and experimental results.

  20. 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.

  1. 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...

  2. Implementing Temperature Supervision for the ALICE CRU Card Using the Onboard Microcontroller

    CERN Document Server

    Perez Bernabeu, Ruben

    2017-01-01

    We report on the first implementation of the thermal supervisory firmware for the onboard microcontroller on the ALICE CRU card. The Common Readout Unit (CRU) is a custom PCI Express FPGA card developed by “Centre Physique des Particules de Marseille” in collaboration of LHCb and ALICE. While the main effort has been focused on the development of the FPGA firmware that implements all the communication needs, there are several independent design tasks identified to ensure the safe operation of the CRU card under all possible conditions. One such task is to implement a robust local (on-board) temperature monitoring and safeguarding subsystem based on ATmega128 microcontroller. It will autonomously prevent the thermal damage of the card even if the remote HW monitoring and controlling functions (integrated in DCS) failed for any reason. Consequently, our main goal in this project will be implementing the temperature supervision using the onboard microcontroller.

  3. The treatment of autonomic dysfunction in tetanus

    African Journals Online (AJOL)

    [9] During autonomic instability there is an increase in noradrenaline and ... The systemic vascular resistance (SVR) may initially be low, but rises as the disease ... Deep analgosedation has been found to be important in overcoming autonomic ...

  4. 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

  5. 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...

  6. Genetic classification of populations using supervised learning.

    LENUS (Irish Health Repository)

    Bridges, Michael

    2011-01-01

    There are many instances in genetics in which we wish to determine whether two candidate populations are distinguishable on the basis of their genetic structure. Examples include populations which are geographically separated, case-control studies and quality control (when participants in a study have been genotyped at different laboratories). This latter application is of particular importance in the era of large scale genome wide association studies, when collections of individuals genotyped at different locations are being merged to provide increased power. The traditional method for detecting structure within a population is some form of exploratory technique such as principal components analysis. Such methods, which do not utilise our prior knowledge of the membership of the candidate populations. are termed unsupervised. Supervised methods, on the other hand are able to utilise this prior knowledge when it is available.In this paper we demonstrate that in such cases modern supervised approaches are a more appropriate tool for detecting genetic differences between populations. We apply two such methods, (neural networks and support vector machines) to the classification of three populations (two from Scotland and one from Bulgaria). The sensitivity exhibited by both these methods is considerably higher than that attained by principal components analysis and in fact comfortably exceeds a recently conjectured theoretical limit on the sensitivity of unsupervised methods. In particular, our methods can distinguish between the two Scottish populations, where principal components analysis cannot. We suggest, on the basis of our results that a supervised learning approach should be the method of choice when classifying individuals into pre-defined populations, particularly in quality control for large scale genome wide association studies.

  7. Graph-based semi-supervised learning

    CERN Document Server

    Subramanya, Amarnag

    2014-01-01

    While labeled data is expensive to prepare, ever increasing amounts of unlabeled data is becoming widely available. In order to adapt to this phenomenon, several semi-supervised learning (SSL) algorithms, which learn from labeled as well as unlabeled data, have been developed. In a separate line of work, researchers have started to realize that graphs provide a natural way to represent data in a variety of domains. Graph-based SSL algorithms, which bring together these two lines of work, have been shown to outperform the state-of-the-art in many applications in speech processing, computer visi

  8. Supervised hub-detection for brain connectivity

    DEFF Research Database (Denmark)

    Kasenburg, Niklas; Liptrot, Matthew George; Reislev, Nina Linde

    2016-01-01

    A structural brain network consists of physical connections between brain regions. Brain network analysis aims to find features associated with a parameter of interest through supervised prediction models such as regression. Unsupervised preprocessing steps like clustering are often applied......-detection and a linear regression using the original network connections as features. The results show that the SHD is able to retain regression performance, while still finding hubs that represent the underlying variation in the population. Although here we applied the SHD to brain networks, it can be applied to any...

  9. Supervised Ensemble Classification of Kepler Variable Stars

    CERN Document Server

    Bass, Gideon

    2016-01-01

    Variable star analysis and classification is an important task in the understanding of stellar features and processes. While historically classifications have been done manually by highly skilled experts, the recent and rapid expansion in the quantity and quality of data has demanded new techniques, most notably automatic classification through supervised machine learning. We present an expansion of existing work on the field by analyzing variable stars in the {\\em Kepler} field using an ensemble approach, combining multiple characterization and classification techniques to produce improved classification rates. Classifications for each of the roughly 150,000 stars observed by {\\em Kepler} are produced separating the stars into one of 14 variable star classes.

  10. Effects of coaching supervision, mentoring supervision and abusive supervision on talent development among trainee doctors in public hospitals: moderating role of clinical learning environment.

    Science.gov (United States)

    Subramaniam, Anusuiya; Silong, Abu Daud; Uli, Jegak; Ismail, Ismi Arif

    2015-08-13

    Effective talent development requires robust supervision. However, the effects of supervisory styles (coaching, mentoring and abusive supervision) on talent development and the moderating effects of clinical learning environment in the relationship between supervisory styles and talent development among public hospital trainee doctors have not been thoroughly researched. In this study, we aim to achieve the following, (1) identify the extent to which supervisory styles (coaching, mentoring and abusive supervision) can facilitate talent development among trainee doctors in public hospital and (2) examine whether coaching, mentoring and abusive supervision are moderated by clinical learning environment in predicting talent development among trainee doctors in public hospital. A questionnaire-based critical survey was conducted among trainee doctors undergoing housemanship at six public hospitals in the Klang Valley, Malaysia. Prior permission was obtained from the Ministry of Health Malaysia to conduct the research in the identified public hospitals. The survey yielded 355 responses. The results were analysed using SPSS 20.0 and SEM with AMOS 20.0. The findings of this research indicate that coaching and mentoring supervision are positively associated with talent development, and that there is no significant relationship between abusive supervision and talent development. The findings also support the moderating role of clinical learning environment on the relationships between coaching supervision-talent development, mentoring supervision-talent development and abusive supervision-talent development among public hospital trainee doctors. Overall, the proposed model indicates a 26 % variance in talent development. This study provides an improved understanding on the role of the supervisory styles (coaching and mentoring supervision) on facilitating talent development among public hospital trainee doctors. Furthermore, this study extends the literature to better

  11. Objects as Temporary Autonomous Zones

    Directory of Open Access Journals (Sweden)

    Tim Morton

    2011-09-01

    Full Text Available From Hakim Bey's instructions on creating temporary autonomous zones we see an oscillation "between performance art and politics, circus clowning and revolution." In this essay Tim Morton discusses anarchist politics as, "the creation of fresh objects in a reality without a top or a bottom object, or for that matter a middle object."

  12. Objects as Temporary Autonomous Zones

    OpenAIRE

    Tim Morton

    2011-01-01

    From Hakim Bey's instructions on creating temporary autonomous zones we see an oscillation "between performance art and politics, circus clowning and revolution." In this essay Tim Morton discusses anarchist politics as, "the creation of fresh objects in a reality without a top or a bottom object, or for that matter a middle object."

  13. Designing Assessment for Autonomous Learning

    Science.gov (United States)

    Hay, Marie; Mathers, Lucy

    2012-01-01

    This paper aims to disseminate and evaluate an autonomous learning framework developed through collaborative research with first- and second-year undergraduate students at De Montfort University. Central to the framework is the involvement of students in the assessment of their peers and themselves using dialogue about the assessment and feedback…

  14. Autonomic dysreflexia: a medical emergency

    Science.gov (United States)

    Bycroft, J; Shergill, I; Choong, E; Arya, N; Shah, P

    2005-01-01

    Autonomic dysreflexia is an important clinical diagnosis that requires prompt treatment to avoid devastating complications. The condition may present itself to all members of medical and surgical specialties, who may not be accustomed to treating it. It is the clinician's responsibility to have a basic understanding of the pathophysiology of the condition and the simple steps required to treat it. PMID:15811886

  15. Autonomous vertical profiler data management

    Digital Repository Service at National Institute of Oceanography (India)

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

    The Autonomous Vertical Profiler (AVP), developed at NIO [1] [2], collects position and water column data over a period of 3 days and transmits through a satellite modem which is collated and stored on a PC. Data includes GPS positions, water column...

  16. Hazard Map for Autonomous Navigation

    DEFF Research Database (Denmark)

    Riis, Troels

    This dissertation describes the work performed in the area of using image analysis in the process of landing a spacecraft autonomously and safely on the surface of the Moon. This is suggested to be done using a Hazard Map. The correspondence problem between several Hazard Maps are investigated fu...

  17. Autonomous Bio-Optical Instruments

    Science.gov (United States)

    2000-09-30

    Autonomous Bio -Optical Instruments Russ E. Davis Scripps Institution of Oceanography La Jolla CA 92093-0230 phone: (858) 534-4415 fax: (858) 534... Bio -Optical Instruments 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK

  18. Computing architecture for autonomous microgrids

    Science.gov (United States)

    Goldsmith, Steven Y.

    2015-09-29

    A computing architecture that facilitates autonomously controlling operations of a microgrid is described herein. A microgrid network includes numerous computing devices that execute intelligent agents, each of which is assigned to a particular entity (load, source, storage device, or switch) in the microgrid. The intelligent agents can execute in accordance with predefined protocols to collectively perform computations that facilitate uninterrupted control of the .

  19. Blunted autonomic response in cluster headache patients

    DEFF Research Database (Denmark)

    Barloese, Mads; Brinth, Louise; Mehlsen, Jesper

    2015-01-01

    BACKGROUND: Cluster headache (CH) is a disabling headache disorder with chronobiological features. The posterior hypothalamus is involved in CH pathophysiology and is a hub for autonomic control. We studied autonomic response to the head-up tilt table test (HUT) including heart rate variability...... be interpreted as dysregulation in the posterior hypothalamus and supports a theory of central autonomic mechanisms involvement in CH....

  20. Indoor Autonomous Airship Control and Navigation System

    Directory of Open Access Journals (Sweden)

    Fedorenko Roman

    2016-01-01

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