Sample records for supervised autonomous rendezvous

  1. Expert system isssues in automated, autonomous space vehicle rendezvous (United States)

    Goodwin, Mary Ann; Bochsler, Daniel C.


    The problems involved in automated autonomous rendezvous are briefly reviewed, and the Rendezvous Expert (RENEX) expert system is discussed with reference to its goals, approach used, and knowledge structure and contents. RENEX has been developed to support streamlining operations for the Space Shuttle and Space Station program and to aid definition of mission requirements for the autonomous portions of rendezvous for the Mars Surface Sample Return and Comet Nucleus Sample return unmanned missions. The experience with REMEX to date and recommendations for further development are presented.

  2. A Ground Testbed to Advance US Capability in Autonomous Rendezvous and Docking (United States)

    National Aeronautics and Space Administration — This project will advance the Autonomous Rendezvous and Docking (AR&D) GNC system by testing it on hardware, particularly in a flight processor, with a goal of...

  3. AggieSat: Autonomous Rendezvous and Docking Technology Demonstrator, Phase I (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...

  4. AggieSat: Autonomous Rendezvous and Docking Technology Demonstrator, Phase II (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...

  5. An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics (United States)

    Nelson, Kurt


    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.

  6. An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics (United States)

    Nelson, Kurt

    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.

  7. An overview of autonomous rendezvous and docking system technology development at General Dynamics (United States)

    Kuenzel, Fred

    The Centaur avionics suite is undergoing a dramatic modernization for the commercial, DoD Atlas and Titan programs. The system has been upgraded to the current state-of-the-art in ring laser gyro inertial sensors and Mil-Std-1750A processor technology. The Cruise Missile avionic system has similarly been evolving for many years. Integration of GPS into both systems has been underway for over five years with a follow-on cruise missile system currently in flight test. Rendezvous and Docking related studies have been conducted for over five years in support of OMV, CTV, and Advanced Upper Stages, as well as several other internal IR&D's. The avionics system and AR&D simulator demonstrated to the SATWG in November 1990 has been upgraded considerably under two IR&D programs in 1991. The Centaur modern avionics system is being flown in block upgrades which started in July of 1990. The Inertial Navigation Unit will fly in November of 1991. The Cruise Missile avionics systems have been fully tested and operationally validated in combat. The integrated AR&D system for space vehicle applications has been under development and testing since 1990. A Joint NASA / GD ARD&L System Test Program is currently being planned to validate several aspects of system performance in three different NASA test facilities in 1992.

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

    DEFF Research Database (Denmark)

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


    Autonomous vehicles require a very high degree of availability and safety to become accepted by authorities and the public. Diagnosis and supervision are necessary means to achieve this. This paper investigates ways of using laser-scanner data to do localisation, and as a source of independent...

  9. Flash 3D Rendezvous and Docking Sensor Project (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...

  10. Distributed Multi-Level Supervision to Effectively Monitor the Operations of a Fleet of Autonomous Vehicles in Agricultural Tasks (United States)

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


    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

  11. 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


    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.

  12. An automated rendezvous and capture system design concept for the cargo transfer vehicle and Space Station Freedom (United States)

    Fuchs, Ron; Marsh, Steven


    A rendezvous sensor system concept was developed for the cargo transfer vehicle (CTV) to autonomously rendezvous with and be captured by Space Station Freedom (SSF). The development of requirements, the design of a unique Lockheed developed sensor concept to meet these requirements, and the system design to place this sensor on the CTV and rendezvous with the SSF are described .

  13. 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 (United States)

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


    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

  14. Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations

    National Research Council Canada - National Science Library

    McCamish, Shawn B


    This research contributes to multiple spacecraft control by developing an autonomous distributed control algorithm for close proximity operations of multiple spacecraft systems, including rendezvous...

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


    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.

  16. 75 FR 44794 - Rendezvous International v. (United States)


    ... 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... complaint has been filed with the Federal Maritime Commission (``Commission'') by Rendezvous International...

  17. Hydra Rendezvous and Docking Sensor (United States)

    Roe, Fred; Carrington, Connie


    The U.S. technology to support a CEV AR&D activity is mature and was developed by NASA and supporting industry during an extensive research and development program conducted during the 1990's and early 2000 time frame at the Marshall Space Flight Center. Development and demonstration of a rendezvous/docking sensor was identified early in the AR&D Program as the critical enabling technology that allows automated proxinity operations and docking. A first generation rendezvous/docking sensor, the Video Guidance Sensor (VGS) was developed and successfully flown on STS 87 and again on STS 95, proving the concept of a video-based sensor. Advances in both video and signal processing technologies and the lessons learned from the two successful flight experiments provided a baseline for the development of a new generation of video based rendezvous/docking sensor. The Advanced Video Guidance Sensor (AVGS) has greatly increased performance and additional capability for longer-range operation. A Demonstration Automatic Rendezvous Technology (DART) flight experiment was flown in April 2005 using AVGS as the primary proximity operations sensor. Because of the absence of a docking mechanism on the target satellite, this mission did not demonstrate the ability of the sensor to coltrold ocking. Mission results indicate that the rendezvous sensor operated successfully in "spot mode" (2 km acquisition of the target, bearing data only) but was never commanded to "acquire and track" the docking target. Parts obsolescence issues prevent the construction of current design AVGS units to support the NASA Exploration initiative. This flight proven AR&D technology is being modularized and upgraded with additional capabilities through the Hydra project at the Marshall Space Flight Center. Hydra brings a unique engineering approach and sensor architecture to the table, to solve the continuing issues of parts obsolescence and multiple sensor integration. This paper presents an approach to

  18. The mobile agent rendezvous problem in the ring

    CERN Document Server

    Kranakis, Evangelos; Marcou, Euripides


    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

  19. Guidance and Navigation for Rendezvous and Proximity Operations with a Non-Cooperative Spacecraft at Geosynchronous Orbit (United States)

    Barbee, Brent William; Carpenter, J. Russell; Heatwole, Scott; Markley, F. Landis; Moreau, Michael; Naasz, Bo J.; VanEepoel, John


    The feasibility and benefits of various spacecraft servicing concepts are currently being assessed, and all require that the servicer spacecraft perform rendezvous, proximity, and capture operations with the target spacecraft to be serviced. Many high-value spacecraft, which would be logical targets for servicing from an economic point of view, are located in geosynchronous orbit, a regime in which autonomous rendezvous and capture operations are not commonplace. Furthermore, existing GEO spacecraft were not designed to be serviced. Most do not have cooperative relative navigation sensors or docking features, and some servicing applications, such as de-orbiting of a non-functional spacecraft, entail rendezvous and capture with a spacecraft that may be non-functional or un-controlled. Several of these challenges have been explored via the design of a notional mission in which a nonfunctional satellite in geosynchronous orbit is captured by a servicer spacecraft and boosted into super-synchronous orbit for safe disposal. A strategy for autonomous rendezvous, proximity operations, and capture is developed, and the Orbit Determination Toolbox (ODTBX) is used to perform a relative navigation simulation to assess the feasibility of performing the rendezvous using a combination of angles-only and range measurements. Additionally, a method for designing efficient orbital rendezvous sequences for multiple target spacecraft is utilized to examine the capabilities of a servicer spacecraft to service multiple targets during the course of a single mission.

  20. Comprehensive asynchronous symmetric rendezvous algorithm in ...

    Indian Academy of Sciences (India)

    Meenu Chawla


    Nov 10, 2017 ... Dynamic spectrum access; opportunistic spectrum access; cognitive radio networks; rendezvous process; neighbour discovery ...... Commun. 4: 26–39. [11] Joshi G P, Nam S Y and Kim S W 2014 Rendezvous issues in ad hoc cognitive radio networks. KSII Trans. Internet. Inform. Syst. (TIIS) 8: 3655–3673.

  1. Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay (United States)

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


    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.

  2. 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...

  3. Reactive Rendezvous and Docking Sequencer, Phase II (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...

  4. Reactive Rendezvous and Docking Sequencer, Phase I (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...

  5. The Rendezvous Monitoring Display Capabilities of the Rendezvous and Proximity Operations Program (United States)

    Brazzel, Jack; Spehar, Pete; Clark, Fred; Foster, Chris; Eldridge, Erin


    The Rendezvous and Proximity Operations Program (RPOP) is a laptop computer- based relative navigation tool and piloting aid that was developed during the Space Shuttle program. RPOP displays a graphical representation of the relative motion between the target and chaser vehicles in a rendezvous, proximity operations and capture scenario. After being used in over 60 Shuttle rendezvous missions, some of the RPOP display concepts have become recognized as a minimum standard for cockpit displays for monitoring the rendezvous task. To support International Space Station (ISS) based crews in monitoring incoming visiting vehicles, RPOP has been modified to allow crews to compare the Cygnus visiting vehicle s onboard navigated state to processed range measurements from an ISS-based, crew-operated Hand Held Lidar sensor. This paper will discuss the display concepts of RPOP that have proven useful in performing and monitoring rendezvous and proximity operations.

  6. Picosats for Autonomous Rendezvous and Docking Technology Demonstration Project (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...

  7. 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...

  8. Comprehensive asynchronous symmetric rendezvous algorithm in ...

    Indian Academy of Sciences (India)

    CRN allows unlicensed users or secondary users (SUs) to opportunistically utilize the free portion of the spectrum allocated to the licensed users or primary users. The fundamental process in the formation of CRN is the rendezvous process where SUs meeton commonly available channels and establish reliable links for ...

  9. Orion Handling Qualities During ISS Rendezvous and Docking (United States)

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


    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

  10. Survey of orbital dynamics and control of space rendezvous

    Directory of Open Access Journals (Sweden)

    Luo Yazhong


    Full Text Available 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 rendezvous, 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.

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

    DEFF Research Database (Denmark)

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

    ), an ESA-funded activity implementing a high integrity autonomous multi-range rendezvous and capture control system demonstrator for future exploration missions around Mars, Earth or potentially other planets, with a wide set of scenarios and particularizing on the MSR (Mars Sample Return) mission. HARv......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...

  12. Supervised Learning (United States)

    Rokach, Lior; Maimon, Oded

    This chapter summarizes the fundamental aspects of supervised methods. The chapter provides an overview of concepts from various interrelated fields used in subsequent chapters. It presents basic definitions and arguments from the supervised machine learning literature and considers various issues, such as performance evaluation techniques and challenges for data mining tasks.

  13. Laser space rendezvous and docking tradeoff (United States)

    Adelman, S.; Levinson, S.; Raber, P.; Weindling, F.


    A spaceborne laser radar (LADAR) was configured to meet the requirements for rendezvous and docking with a cooperative object in synchronous orbit. The LADAR, configurated using existing pulsed CO2 laser technology and a 1980 system technology baseline, is well suited for the envisioned space tug missions. The performance of a family of candidate LADARS was analyzed. Tradeoff studies as a function of size, weight, and power consumption were carried out for maximum ranges of 50, 100, 200, and 300 nautical miles. The investigation supports the original contention that a rendezvous and docking LADAR can be constructed to offer a cost effective and reliable solution to the envisioned space missions. In fact, the CO2 ladar system offers distinct advantages over other candidate systems.

  14. Flocking and rendezvous in distributed robotics

    CERN Document Server

    Francis, Bruce A


    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...


    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)

  16. On-Orbit Autonomous Assembly from Nanosatellites (United States)

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


    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.

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


    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.

  18. Concurrent rendezvous control of underactuated spacecraft (United States)

    Muralidharan, Vijay; Reza Emami, M.


    The concurrent control of spacecraft equipped with one-axis unilateral thruster and three-axis attitude actuator is considered in this paper. The proposed control law utilizes attitude control channels along with the single thrust force concurrently, for three-dimensional trajectory tracking and rendezvous with a target object. The concurrent controller also achieves orbital transfer to low Earth orbits with long range separation. To demonstrate the orbit transfer capabilities of the concurrent controller, a smooth elliptical orbit transfer trajectory for co-planar circular orbits is designed. The velocity change and energy consumption of the designed orbit transfer trajectory is observed to be equivalent to that of Hohmann transfer.

  19. Whither Supervision?

    Directory of Open Access Journals (Sweden)

    Duncan Waite


    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.

  20. Rendezvous, un juego de Lewis Carroll

    Directory of Open Access Journals (Sweden)

    José Manuel Sánchez Muñoz


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

  2. Optimal Rendezvous and Docking Simulator for Elliptical Orbits, Phase I (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...

  3. Experience with Group Supervision


    Chen, Weiqin


    Supervision can take a few different forms. For example, it can be one-to-one supervision and it can also be group supervision. Group supervision is an important process within the scientific community. Many research groups use this form to supervise doctoral- and master students in groups. Some efforts have been made to study this process. For example, Samara (2002) studied the group supervision process in group writing. However, group supervision has not been studied thorough...

  4. Near-Earth Asteroid Rendezvous: mission overview (United States)

    Cheng, A. F.; Santo, A. G.; Heeres, K. J.; Landshof, J. A.; Farquhar, R. W.; Gold, R. E.; Lee, S. C.


    The Near-Earth Asteroid Rendezvous (NEAR) mission, the first launch of NASA's Discovery Program, will be the first mission to orbit an asteroid. NEAR will make the first comprehensive scientific measurements of an asteroid's surface composition, geology, physical properties, and internal structure. NEAR launched successfully on February 17, 1996, aboard a Delta II-7925. It will orbit the 20-km-diameter near-Earth asteroid 433 Eros for about 1 year, at a minimum orbit radius of about 35 km from the center of the asteroid. The NEAR is a solar-powered, three-axis stabilized spacecraft with a launch mass including propellant of 805 kg. NEAR uses X band telemetry to the NASA Deep Space Network, with the data rates at Eros up to 8.8 kbits/s using a 34-m High Efficiency (HEF) dish, and up to 26.5 kbits/s using a 70-m dish. A solid-state recorder is accommodated with a memory capacity of 1.8 Gbytes. Attitude control is to 1.7 mrad, line-of-sight pointing stability is within 50 μrad over 1 s, and post processing attitude knowledge is within 50 μrad. NEAR accommodates 56 kg of instruments and provides them with 84 W. The instruments are a multispectral imager (MSI), a near-infrared spectrograph (NIS), an X ray/gamma ray spectrometer (XRS/GRS), a magnetometer (MAG), and a laser rangefinder (NLR), while a radio science (RS) investigation uses the coherent X band transponder. NEAR will make a flyby of the C-type asteroid 253 Mathilde in June 1997 and will rendezvous with 433 Eros in February 1999. It will execute an initial slow flyby of Eros, with a flyby speed of 5 m/s and a closest approach distance of 500 km. Subsequently, its orbit will be lowered to 35 km. The NEAR Mission Operations Center and the Science Data Center are at the Johns Hopkins Applied Physics Laboratory. The Science Data Center will maintain the entire NEAR data set on-line, and data from all instruments can be accessed by every member of the NEAR Science Team. Data, including images, are released over

  5. Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking (United States)

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


    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.

  6. Automated space vehicle control for rendezvous proximity operations (United States)

    Lea, Robert N.


    Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

  7. A Study of Control Laws for Microsatellite Rendezvous with a Noncooperative Target

    National Research Council Canada - National Science Library

    Tschirhart, Troy


    This study investigated the feasibility of using a microsatellite to accomplish an orbital rendezvous with a noncooperative target, with a focus on the control laws necessary for achieving such a rendezvous...

  8. Laser space rendezvous and docking system study continuation (United States)

    Adelman, S.; Heynau, H.; Levinson, S.; Weindling, F.


    Investigations were made of a configuration for a spaceborne laser radar (ladar) to meet the requirements for rendezvous and docking with a cooperative object in synchronous orbit. An analysis was completed of laser phase locking techniques, while experimental verification was made of pulse repetition frequency and resonant scanning control loops. Data measurements on a satellite mock-up were also made. The investigation supports the original contention that a rendezvous and docking ladar can be configured to offer a cost effective and reliable solution to envisioned space missions.

  9. Security system signal supervision

    International Nuclear Information System (INIS)

    Chritton, M.R.; Matter, J.C.


    This purpose of this NUREG is to present technical information that should be useful to NRC licensees for understanding and applying line supervision techniques to security communication links. A review of security communication links is followed by detailed discussions of link physical protection and DC/AC static supervision and dynamic supervision techniques. Material is also presented on security for atmospheric transmission and video line supervision. A glossary of security communication line supervision terms is appended. 16 figs

  10. Deep Discrete Supervised Hashing


    Jiang, Qing-Yuan; Cui, Xue; Li, Wu-Jun


    Hashing has been widely used for large-scale search due to its low storage cost and fast query speed. By using supervised information, supervised hashing can significantly outperform unsupervised hashing. Recently, discrete supervised hashing and deep hashing are two representative progresses in supervised hashing. On one hand, hashing is essentially a discrete optimization problem. Hence, utilizing supervised information to directly guide discrete (binary) coding procedure can avoid sub-opti...

  11. Stereo-Vision-Based Relative Pose Estimation for the Rendezvous and Docking of Noncooperative Satellites

    Directory of Open Access Journals (Sweden)

    Feng Yu


    Full Text Available Autonomous on-orbit servicing is expected to play an important role in future space activities. Acquiring the relative pose information and inertial parameters of target is one of the key technologies for autonomous capturing. In this paper, an estimation method of relative pose based on stereo vision is presented for the final phase of the rendezvous and docking of noncooperative satellites. The proposed estimation method utilizes the sparse stereo vision algorithm instead of the dense stereo algorithm. The method consists of three parts: (1 body frame reestablishment, which establishes the body-fixed frame for the target satellite using the natural features on the surface and measures the relative attitude based on TRIAD and QUEST; (2 translational parameter estimation, which designs a standard Kalman filter to estimate the translational states and the location of mass center; (3 rotational parameter estimation, which designs an extended Kalman filter and an unscented Kalman filter, respectively, to estimate the rotational states and all the moment-of-inertia ratios. Compared to the dense stereo algorithm, the proposed method can avoid degeneracy when the target has a high degree of axial symmetry and reduce the number of sensors. The validity of the proposed method is verified by numerical simulations.

  12. Visual Odometry for Autonomous Deep-Space Navigation (United States)

    Robinson, Shane; Pedrotty, Sam


    Visual Odometry fills two critical needs shared by all future exploration architectures considered by NASA: Autonomous Rendezvous and Docking (AR&D), and autonomous navigation during loss of comm. To do this, a camera is combined with cutting-edge algorithms (called Visual Odometry) into a unit that provides accurate relative pose between the camera and the object in the imagery. Recent simulation analyses have demonstrated the ability of this new technology to reliably, accurately, and quickly compute a relative pose. This project advances this technology by both preparing the system to process flight imagery and creating an activity to capture said imagery. This technology can provide a pioneering optical navigation platform capable of supporting a wide variety of future missions scenarios: deep space rendezvous, asteroid exploration, loss-of-comm.

  13. Test Results for the Automated Rendezvous and Capture System (United States)

    Cruzen, Craig; Dabney, Richard; Lomas, James


    The Automated Rendezvous and Capture (AR&C) system was designed and tested at NASA's Marshall Space Flight Center (MSFC) to demonstrate technologies and mission strategies for automated rendezvous and docking of spacecraft in Earth orbit, The system incorporates some of the latest innovations in Global Positioning, System space navigation, laser sensor technologies and automated mission sequencing algorithms. The system's initial design and integration was completed in 1998 and has undergone testing at MSFC. This paper describes the major components of the AR&C system and presents results from the official system tests performed in MSFC's Flight Robotics Laboratory with digital simulations and hardware in the loop tests. The results show that the AR&C system can safely and reliably perform automated rendezvous and docking missions in the absence of system failures with 100 percent success. When system failures are included, the system uses its automated collision avoidance maneuver logic to recover in a safe manner. The primary objective of the AR&C project is to prove that by designing a safe and robust automated system, mission operations cost can be reduced by decreasing the personnel required for mission design, preflight planning and training required for crewed rendezvous and docking missions.

  14. Sliding mode predictive guidance for terminal rendezvous in eccentric orbits (United States)

    Kasaeian, Seyed Aliakbar; Assadian, Nima; Ebrahimi, Masoud


    This paper presents a robust guidance algorithm for a chaser spacecraft to rendezvous with a target spacecraft in Earth orbit. The basis of the proposed guidance method is finding an appropriate set of states as close as possible to the current states that would lead the spacecraft to the target in the desired mission time. In order to provide the prediction of states, the relative dynamics equations of motion are solved analytically for the chaser spacecraft rendezvous considering constant acceleration. Although the equations are solved for rendezvous with circular orbit target, it is shown by several simulations that the proposed guidance algorithm is applicable in perturbed elliptical orbits rendezvous as well. The sliding mode method as a robust nonlinear method is utilized as the steering law. The robust steering law tracks the desired states computed by the predictive guidance method. The Lyapunov stability method proves the asymptotic stability of the integrated guidance and steering laws. Because the proposed closed-loop guidance is simple and computationally easy, it is suitable for implementation in real-time applications. Some numerical simulations are conducted to show the performance of the proposed guidance method in different conditions. It is illustrated that compared with other steering laws, the fuel consumption is reduced utilizing the proposed guidance approach. The results reveal that the sliding mode guarantees the tracking of the required states and minimum final errors even in the presence of uncertainties and disturbances.

  15. Short rendezvous missions for advanced Russian human spacecraft (United States)

    Murtazin, Rafail F.; Budylov, Sergey G.


    The two-day stay of crew in a limited inhabited volume of the Soyuz-TMA spacecraft till docking to ISS is one of the most stressful parts of space flight. In this paper a number of possible ways to reduce the duration of the free flight phase are considered. The duration is defined by phasing strategy that is necessary for reduction of the phase angle between the chaser and target spacecraft. Some short phasing strategies could be developed. The use of such strategies creates more comfortable flight conditions for crew thanks to short duration and additionally it allows saving spacecraft's life support resources. The transition from the methods of direct spacecraft rendezvous using one orbit phasing (first flights of " Vostok" and " Soyuz" vehicles) to the currently used methods of two-day rendezvous mission can be observed in the history of Soviet manned space program. For an advanced Russian human rated spacecraft the short phasing strategy is recommended, which can be considered as a combination between the direct and two-day rendezvous missions. The following state of the art technologies are assumed available: onboard accurate navigation; onboard computations of phasing maneuvers; launch vehicle with high accuracy injection orbit, etc. Some operational requirements and constraints for the strategies are briefly discussed. In order to provide acceptable phase angles for possible launch dates the experience of the ISS altitude profile control can be used. As examples of the short phasing strategies, the following rendezvous missions are considered: direct ascent, short mission with the phasing during 3-7 orbits depending on the launch date (nominal or backup). For each option statistical modeling of the rendezvous mission is fulfilled, as well as an admissible phase angle range, accuracy of target state vector and addition fuel consumption coming out of emergency is defined. In this paper an estimation of pros and cons of all options is conducted.

  16. Autonomic neuropathies (United States)

    Low, P. A.


    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.

  17. A Supervision of Solidarity (United States)

    Reynolds, Vikki


    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. Autonomous houses. Autonomous house

    Energy Technology Data Exchange (ETDEWEB)

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


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

  19. Comet rendezvous mission design using Solar Electric Propulsion (United States)

    Sackett, L. L.; Hastrup, R. C.; Yen, C.-W. L.; Wood, L. J.


    A dual comet (Halley Flyby/Tempel 2 Rendezvous) mission, which is planned to be the first to use the Solar Electric Propulsion System (SEPS), is to be launched in 1985. The purpose of this paper is to describe how the mission design attempts to maximize science return while working within spacecraft and other constraints. Science requirements and desires are outlined and specific instruments are considered. Emphasis is on the strategy for operations in the vicinity of Tempel 2, for which a representative profile is described. The mission is planned to extend about one year past initial rendezvous. Because of the large uncertainty in the comet environment the Tempel 2 operations strategy must be highly adaptive.

  20. Two-phase framework for near-optimal multi-target Lambert rendezvous (United States)

    Bang, Jun; Ahn, Jaemyung


    This paper proposes a two-phase framework to obtain a near-optimal solution of multi-target Lambert rendezvous problem. The objective of the problem is to determine the minimum-cost rendezvous sequence and trajectories to visit a given set of targets within a maximum mission duration. The first phase solves a series of single-target rendezvous problems for all departure-arrival object pairs to generate the elementary solutions, which provides candidate rendezvous trajectories. The second phase formulates a variant of traveling salesman problem (TSP) using the elementary solutions prepared in the first phase and determines the final rendezvous sequence and trajectories of the multi-target rendezvous problem. The validity of the proposed optimization framework is demonstrated through an asteroid exploration case study.

  1. 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


    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.

  2. Autonomous search

    CERN Document Server

    Hamadi, Youssef; Saubion, Frédéric


    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.

  3. Fuzzy logic techniques for rendezvous and docking of two geostationary satellites (United States)

    Ortega, Guillermo


    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.

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

  5. Advanced Guidance, Navigation and Control Design for Autonomous Rendezvous and Docking, Phase I (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...

  6. Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot


    Huang, Panfeng; Chen, Lu; Zhang, Bin; Meng, Zhongjie; Liu, Zhengxiong


    In the ultra-close approaching phase of tethered space robot, a highly stable self-attitude control is essential. However, due to the field of view limitation of cameras, typical point features are difficult to extract, where commonly adopted position-based visual servoing cannot be valid anymore. To provide robot’s relative position and attitude with the target, we propose a monocular visual servoing control method using only the edge lines of satellite brackets. Firstly, real time detection...

  7. Non-Scanning 3D Imager for Autonomous Rendezvous and Docking (United States)

    National Aeronautics and Space Administration — On-Orbit Satellite Servicing brings the practical options of repair, refueling, and assembly to space-based exploration and commercial space ventures. It allows one...

  8. Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot

    Directory of Open Access Journals (Sweden)

    Panfeng Huang


    Full Text Available In the ultra-close approaching phase of tethered space robot, a highly stable self-attitude control is essential. However, due to the field of view limitation of cameras, typical point features are difficult to extract, where commonly adopted position-based visual servoing cannot be valid anymore. To provide robot’s relative position and attitude with the target, we propose a monocular visual servoing control method using only the edge lines of satellite brackets. Firstly, real time detection of edge lines is achieved based on image gradient and region growing. Then, we build an edge line based model to estimate the relative position and attitude between the robot and the target. Finally, we design a visual servoing controller combined with PD controller. Experimental results demonstrate that our algorithm can extract edge lines stably and adjust the robot’s attitude to satisfy the grasping requirements.

  9. COARSE: Convex Optimization based autonomous control for Asteroid Rendezvous and Sample Exploration, Phase I (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...

  10. Virtual reality applications to automated rendezvous and capture (United States)

    Hale, Joseph; Oneil, Daniel

    Virtual Reality (VR) is a rapidly developing Human/Computer Interface (HCI) technology. The evolution of high-speed graphics processors and development of specialized anthropomorphic user interface devices, that more fully involve the human senses, have enabled VR technology. Recently, the maturity of this technology has reached a level where it can be used as a tool in a variety of applications. This paper provides an overview of: VR technology, VR activities at Marshall Space Flight Center (MSFC), applications of VR to Automated Rendezvous and Capture (AR&C), and identifies areas of VR technology that requires further development.

  11. 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...

  12. Forskellighed i supervision

    DEFF Research Database (Denmark)

    Petersen, Birgitte; Beck, Emma


    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...

  13. Networks of Professional Supervision (United States)

    Annan, Jean; Ryba, Ken


    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…

  14. Self-supervised ARTMAP. (United States)

    Amis, Gregory P; Carpenter, Gail A


    Computational models of learning typically train on labeled input patterns (supervised learning), unlabeled input patterns (unsupervised learning), or a combination of the two (semi-supervised learning). In each case input patterns have a fixed number of features throughout training and testing. Human and machine learning contexts present additional opportunities for expanding incomplete knowledge from formal training, via self-directed learning that incorporates features not previously experienced. This article defines a new self-supervised learning paradigm to address these richer learning contexts, introducing a neural network called self-supervised ARTMAP. Self-supervised learning integrates knowledge from a teacher (labeled patterns with some features), knowledge from the environment (unlabeled patterns with more features), and knowledge from internal model activation (self-labeled patterns). Self-supervised ARTMAP learns about novel features from unlabeled patterns without destroying partial knowledge previously acquired from labeled patterns. A category selection function bases system predictions on known features, and distributed network activation scales unlabeled learning to prediction confidence. Slow distributed learning on unlabeled patterns focuses on novel features and confident predictions, defining classification boundaries that were ambiguous in the labeled patterns. Self-supervised ARTMAP improves test accuracy on illustrative low-dimensional problems and on high-dimensional benchmarks. Model code and benchmark data are available from: Copyright 2009 Elsevier Ltd. All rights reserved.

  15. Supervision som undervisningsform i voksenspecialundervisningen

    DEFF Research Database (Denmark)

    Kristensen, René


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

  16. Researching online supervision

    DEFF Research Database (Denmark)

    Bengtsen, Søren S. E.; Mathiasen, Helle


    Online supervision and the use of digital media in supervisory dialogues is a fast increasing practice in higher education today. However, the concepts in our pedagogical repertoire often reflect the digital tools used for supervision purposes as either a prolongation of the face-to-face contact......, 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......’ methodology that makes room for new approaches to researching online supervision at the university....

  17. Supervised Convolutional Sparse Coding

    KAUST Repository

    Affara, Lama Ahmed


    Convolutional Sparse Coding (CSC) is a well-established image representation model especially suited for image restoration tasks. In this work, we extend the applicability of this model by proposing a supervised approach to convolutional sparse coding, which aims at learning discriminative dictionaries instead of purely reconstructive ones. We incorporate a supervised regularization term into the traditional unsupervised CSC objective to encourage the final dictionary elements to be discriminative. Experimental results show that using supervised convolutional learning results in two key advantages. First, we learn more semantically relevant filters in the dictionary and second, we achieve improved image reconstruction on unseen data.

  18. Bayesian supervised dimensionality reduction. (United States)

    Gönen, Mehmet


    Dimensionality reduction is commonly used as a preprocessing step before training a supervised learner. However, coupled training of dimensionality reduction and supervised learning steps may improve the prediction performance. In this paper, we introduce a simple and novel Bayesian supervised dimensionality reduction method that combines linear dimensionality reduction and linear supervised learning in a principled way. We present both Gibbs sampling and variational approximation approaches to learn the proposed probabilistic model for multiclass classification. We also extend our formulation toward model selection using automatic relevance determination in order to find the intrinsic dimensionality. Classification experiments on three benchmark data sets show that the new model significantly outperforms seven baseline linear dimensionality reduction algorithms on very low dimensions in terms of generalization performance on test data. The proposed model also obtains the best results on an image recognition task in terms of classification and retrieval performances.

  19. Psykoterapi og supervision

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard


    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....

  20. 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...

  1. 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.......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....

  2. Ubiquitously supervised subspace learning. (United States)

    Yang, Jianchao; Yan, Shuicheng; Huang, Thomas S


    In this paper, our contributions to the subspace learning problem are two-fold. We first justify that most popular subspace learning algorithms, unsupervised or supervised, can be unitedly explained as instances of a ubiquitously supervised prototype. They all essentially minimize the intraclass compactness and at the same time maximize the interclass separability, yet with specialized labeling approaches, such as ground truth, self-labeling, neighborhood propagation, and local subspace approximation. Then, enlightened by this ubiquitously supervised philosophy, we present two categories of novel algorithms for subspace learning, namely, misalignment-robust and semi-supervised subspace learning. The first category is tailored to computer vision applications for improving algorithmic robustness to image misalignments, including image translation, rotation and scaling. The second category naturally integrates the label information from both ground truth and other approaches for unsupervised algorithms. Extensive face recognition experiments on the CMU PIE and FRGC ver1.0 databases demonstrate that the misalignment-robust version algorithms consistently bring encouraging accuracy improvements over the counterparts without considering image misalignments, and also show the advantages of semi-supervised subspace learning over only supervised or unsupervised scheme.

  3. Robust control for constant thrust rendezvous under thrust failure

    Directory of Open Access Journals (Sweden)

    Qi Yongqiang


    Full Text Available A robust constant thrust rendezvous approach under thrust failure is proposed based on the relative motion dynamic model. Firstly, the design problem is cast into a convex optimization problem by introducing a Lyapunov function subject to linear matrix inequalities. Secondly, the robust controllers satisfying the requirements can be designed by solving this optimization problem. Then, a new algorithm of constant thrust fitting is proposed through the impulse compensation and the fuel consumption under the theoretical continuous thrust and the actual constant thrust is calculated and compared by using the method proposed in this paper. Finally, the proposed method having the advantage of saving fuel is proved and the actual constant thrust switch control laws are obtained through the isochronous interpolation method, meanwhile, an illustrative example is provided to show the effectiveness of the proposed control design method.

  4. Rendezvous, proximity operations and capture quality function deployment report (United States)

    Lamkin, Stephen L. (Editor)


    Rendezvous, Proximity Operations, and Capture (RPOC) is a missions operations area which is extremely important to present and future space initiatives and must be well planned and coordinated. To support this, a study team was formed to identify a specific plan of action using the Quality Function Deployment (QFD) process. This team was composed of members from a wide spectrum of engineering and operations organizations which are involved in the RPOC technology area. The key to this study's success is an understanding of the needs of potential programmatic customers and the technology base available for system implementation. To this end, the study team conducted interviews with a variety of near term and future programmatic customers and technology development sponsors. The QFD activity led to a thorough understanding of the needs of these customers in the RPOC area, as well as the relative importance of these needs.

  5. Vision Based Navigation Sensors for Spacecraft Rendezvous and Docking

    DEFF Research Database (Denmark)

    Benn, Mathias

    of this constellation, providing both position and pose information for the Target vehicle. This dissertation will describe the study, implementation and verification methods that has led to the realization of this optical Vision Based Sensor (VBS), which is used on the PRISMA mission. On June 15th 2010 the PRISMA....... Denmark has, with DTUs design of the Swarm mission, ESAs next Earth Observation Programme magnetic mapping mission, and DTUs participation in GRACE, ELISA and Alsat2, a leading role in designing and verifying sensor systems for this new class of spacecraft. The Swedish led PRISMA mission...... 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...

  6. Deep Interior: Multiple-Rendezvous Prospecting of NEOs (United States)

    Kakuda, R. Y.; Asphaug, E.; Belton, M. J. S.; Gulkis, S.; Huebner, W. F.


    This is an international multiple-rendezvous mission designed to prospect the deep interior and subsurface geophysical properties of diverse near-Earth objects, using reflection radar tomography, imaging, gravity, and explosions. What we learn will greatly influence future missions and guide strategies for the diversion, disruption, or utilization of potentially hazardous objects. Deep Interior. Low-frequency radar to determine internal variations of complex permittivity at resolutions approaching 20 m. Map inclusions or voids, fracture geometries, and compositional or structural boundaries. Subsurface. High-frequency radar to determine depth of regolith, existence and nature of cometary mantle, geology beneath and around craters, and subsurface expressions to surface geology. Topography and Geodesy. Stereogrammetric imaging with 1 m/pixel spatial resolution, supplemented by radar altimetry in shadowed regions, to determine detailed shape, volume, and spin state. Compare with radar sounding to learn how internal structure is manifested on the surface. Mass and Density. Total mass and lower moments of the internal mass distribution by mapping the exterior gravitational field. Look for mass concentrations. Surface microphysics and composition. Map color, albedo, and scattering properties of the surface over sunlit regions in six optical filters. Material properties. Deploy grenades to characterize the mechanics and dynamics of surface materials. Record 8 frame/sec, 20 cm/pixel videos of crater formation and ejecta dynamics, to enable simple and direct laboratory constraints on material density, cohesion and porosity. Dust. Look for dust lofted by surface waves propagating from the explosions, to constrain elastic properties and attenuation. Observe longer-term dynamics and optical properties of dust "atmosphere" generated by human activity. Cometary Activity. At comet 107P/Wilson-Harrington, look for expressions of past cometary activity, and for possible awakening

  7. Percutaneous rendezvous technique for the management of a bile duct injury. (United States)

    Meek, James; Fletcher, Savannah; Crumley, Kristen; Culp, W C; Meek, Mary


    The rendezvous technique typically involves combined efforts of interventional radiology, endoscopy, and surgery. It can be done solely percutaneously, whereby the interventionalist gains desired access to one point in the body by approaching it from two different access sites. We present the case of a woman who underwent cholecystectomy complicated by a bile duct injury. A percutaneous rendezvous procedure enabled placement of an internal-external drain from the intrahepatic ducts through the biloma and distal common bile duct and into the duodenum. Thus, a percutaneous rendezvous technique is feasible for managing a bile duct injury when endoscopic retrograde cholangio-pancreatography or percutaneous transhepatic cholangiogram alone has been unsuccessful.

  8. Percutaneous rendezvous technique for the management of a bile duct injury

    Directory of Open Access Journals (Sweden)

    James Meek, DO


    Full Text Available The rendezvous technique typically involves combined efforts of interventional radiology, endoscopy, and surgery. It can be done solely percutaneously, whereby the interventionalist gains desired access to one point in the body by approaching it from two different access sites. We present the case of a woman who underwent cholecystectomy complicated by a bile duct injury. A percutaneous rendezvous procedure enabled placement of an internal-external drain from the intrahepatic ducts through the biloma and distal common bile duct and into the duodenum. Thus, a percutaneous rendezvous technique is feasible for managing a bile duct injury when endoscopic retrograde cholangio-pancreatography or percutaneous transhepatic cholangiogram alone has been unsuccessful.

  9. Preliminary GN&C Design for the On-Orbit Autonomous Assembly of Nanosatellite Demonstration Mission (United States)

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


    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.

  10. Intelligent multivariate process supervision

    International Nuclear Information System (INIS)

    Visuri, Pertti.


    This thesis addresses the difficulties encountered in managing large amounts of data in supervisory control of complex systems. Some previous alarm and disturbance analysis concepts are reviewed and a method for improving the supervision of complex systems is presented. The method, called multivariate supervision, is based on adding low level intelligence to the process control system. By using several measured variables linked together by means of deductive logic, the system can take into account the overall state of the supervised system. Thus, it can present to the operators fewer messages with higher information content than the conventional control systems which are based on independent processing of each variable. In addition, the multivariate method contains a special information presentation concept for improving the man-machine interface. (author)

  11. Optimal rendezvous-point selection for robotic interception of moving objects. (United States)

    Croft, E A; Fenton, R G; Benhabib, B


    A number of active prediction planning and execution (APPE) systems have recently been proposed for robotic interception of moving objects. The cornerstone of such systems is the selection of a robot-object rendezvous-point on the predicted object trajectory. Unlike tracking-based systems, which minimize the state difference between the object and the robot at each control period, in this methodology the robot is sent directly to the selected rendezvous-point. A fine-motion tracking strategy would then be employed for grasping the moving object. Herein, a novel strategy for selecting the optimal (earliest) rendezvous-point is presented. For objects with predictable trajectories, this is a significant improvement over previous APPE strategies which select the rendezvous-point from a limited number of non-optimally chosen candidates.

  12. Spacecraft Rendezvous Guidance in Cluttered Dynamical Environments via Extreme Learning Machines, Phase I (United States)

    National Aeronautics and Space Administration — DeepAnalytX, Inc. proposes to investigate a new approach to perform real-time, closed-loop optimal and robust rendezvous guidance in space environments comprising a...

  13. Supervision of financial markets

    Directory of Open Access Journals (Sweden)

    Mihai Ilie


    Full Text Available Based on the fundamental role of the market in contemporary economic development, in this study we aim to analyse how the financial markets in Romania are regulated, monitored and, especially supervised, compared to developed or developing European countries, close or far away from the national borders. The study highlights the main trends in the existing financial supervision systems abroad after the 2000s and ends with proposals based on the authors' opinion regarding the best option for the Romanian supervisory model of financial markets.

  14. Cooperative Rendezvous and Docking for Underwater Robots Using Model Predictive Control and Dual Decomposition

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Johansen, Tor Arne; Blanke, Mogens


    This paper considers the problem of rendezvous and docking with visual constraints in the context of underwater robots with camera-based navigation. The objective is the convergence of the vehicles to a common point while maintaining visual contact. The proposed solution includes the design of a ...... of a distributed model predictive controller based on dual decomposition, which allows for optimization in a decentralized fashion. The proposed distributed controller enables rendezvous and docking between vehicles while maintaining visual contact....

  15. Intra-urinoma Rendezvous Using a Transconduit Approach to Re-establish Ureteric Integrity

    International Nuclear Information System (INIS)

    Anderson, Hugh; Alyas, Faisal; Edwin, Patrick Joseph


    Ureteric discontinuity following injury has been traditionally treated surgically. With the advent of improved interventional instrumentation it is possible to stent these lesions percutaneously, retrogradely or failing that using a combined (rendezvous) technique. We describe an intra-urinoma rendezvous procedure combining a percutaneous antegrade-transconduit retrograde technique of stent insertion to successfully re-establish ureteric integrity that was used following the failure of a percutaneous retrograde approach. We illustrate its usefulness as an alternative to surgery

  16. Kontraktetablering i supervision

    DEFF Research Database (Denmark)

    Mortensen, Karen Vibeke; Jacobsen, Claus Haugaard


    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...

  17. Supervision and group dynamics

    DEFF Research Database (Denmark)

    Hansen, Søren; Jensen, Lars Peter


     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...

  18. Man-machine supervision

    International Nuclear Information System (INIS)

    Montmain, J.


    Today's complexity of systems where man is involved has led to the development of more and more sophisticated information processing systems where decision making has become more and more difficult. The operator task has moved from operation to supervision and the production tool has become indissociable from its numerical instrumentation and control system. The integration of more and more numerous and sophisticated control indicators in the control room does not necessary fulfill the expectations of the operation team. It is preferable to develop cooperative information systems which are real situation understanding aids. The stake is not the automation of operators' cognitive tasks but the supply of a reasoning help. One of the challenges of interactive information systems is the selection, organisation and dynamical display of information. The efficiency of the whole man-machine system depends on the communication interface efficiency. This article presents the principles and specificities of man-machine supervision systems: 1 - principle: operator's role in control room, operator and automation, monitoring and diagnosis, characteristics of useful models for supervision; 2 - qualitative reasoning: origin, trends, evolutions; 3 - causal reasoning: causality, causal graph representation, causal and diagnostic graph; 4 - multi-points of view reasoning: multi flow modeling method, Sagace method; 5 - approximate reasoning: the symbolic numerical interface, the multi-criteria decision; 6 - example of application: supervision in a spent-fuel reprocessing facility. (J.S.)

  19. Clinical Supervision in Denmark

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard


    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...

  20. Etiske betragtninger ved supervision

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard; Agerskov, Kirsten


    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...

  1. Autonomous Supervision and Control of Parametric Roll Resonance

    DEFF Research Database (Denmark)

    Galeazzi, Roberto

    therefore two objectives. The first is to develop methods for detection of the inception of parametric roll resonance. The second is to develop control strategies to stabilize the motion after parametric roll has started. Stabilisation of parametric roll resonance points to two possible courses of action...... strategies are then combined to stabilise parametric roll resonance within few roll cycles. Limitations on the maximum stabilisable roll angle are analysed and linked to the ii slew rate saturation and hydrodynamic stall characteristics of the fin stabilisers. The study on maximum stabilisable roll angle...... leads to the requirements for early detection. Two novel detectors are proposed, which work within a shorttime prediction horizon, and issue early warnings of parametric roll inception within few roll cycles from its onset. The main idea behind these detection schemes is that of exploiting the link...

  2. Asteroid Rendezvous Mission Design Using Multiobjective Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Ya-zhong Luo


    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.

  3. Challenging the Dual Assumption of the "Always/Already" Autonomous Student and Effective Supervisor (United States)

    Manathunga, Catherine; Goozee, Justine


    Postgraduate supervision, until recently, was regarded as an extension of research rather than as a form of teaching. Research students were assumed to be "always/already" autonomous scholars at the beginning of their candidature. So too, postgraduate supervisors were assumed to be "always/already" effective at supervising once they had endured…

  4. Resistance to group clinical supervision

    DEFF Research Database (Denmark)

    Buus, Niels; Delgado, Cynthia; Traynor, Michael


    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...

  5. Collective academic supervision

    DEFF Research Database (Denmark)

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


    process. This article fills these gaps by discussing potentials and challenges in “Collective Academic Supervision”, a model for supervision at the Master of Education in Guidance at Aarhus University in Denmark. The pedagogical rationale behind the model is that students’ participation and learning...... 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...... to peers. In sum CAS provides a practice in which a group of students and their supervisor learn by working together. Potentials for future research is to investigate the ways in which participants – both students and teachers - can be prepared for different modes of participation and, finally, how...

  6. 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...... of these notions have distorted their original connotations and taken an excessively instrumentalistic and individualistic approach to their use. This paper will argue that we are, in the 2000s, seeing a questioning of an overly instrumentalistic and individualistic view of learning and development previously...... associated with reflection and an exploration of alternative conceptions that view reflection within the context of settings which have a more group- and team-based orientation. Drawing on an action research project on health care supervision, the paper questions whether we should reject earlier views...

  7. Dual Supervised Learning


    Xia, Yingce; Qin, Tao; Chen, Wei; Bian, Jiang; Yu, Nenghai; Liu, Tie-Yan


    Many supervised learning tasks are emerged in dual forms, e.g., English-to-French translation vs. French-to-English translation, speech recognition vs. text to speech, and image classification vs. image generation. Two dual tasks have intrinsic connections with each other due to the probabilistic correlation between their models. This connection is, however, not effectively utilized today, since people usually train the models of two dual tasks separately and independently. In this work, we p...

  8. Supervision af psykoterapi via Skype

    DEFF Research Database (Denmark)

    Jacobsen, Claus Haugaard; Grünbaum, Liselotte


    The article accounts for the situations in which distance supervision may be necessary. Skype™ is introduced as a way to make audiovisual distance supervision easy accessible. The literature on empirical studies of clinical supervision mediated by video is reviewed. Furthermore, the authors’ own...... 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...

  9. Action learning in undergraduate engineering thesis supervision

    Directory of Open Access Journals (Sweden)

    Brad Stappenbelt


    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.

  10. Quorum system and random based asynchronous rendezvous protocol for cognitive radio ad hoc networks

    Directory of Open Access Journals (Sweden)

    Sylwia Romaszko


    Full Text Available This paper proposes a rendezvous protocol for cognitive radio ad hoc networks, RAC2E-gQS, which utilizes (1 the asynchronous and randomness properties of the RAC2E protocol, and (2 channel mapping protocol, based on a grid Quorum System (gQS, and taking into account channel heterogeneity and asymmetric channel views. We show that the combination of the RAC2E protocol with the grid-quorum based channel mapping can yield a powerful RAC2E-gQS rendezvous protocol for asynchronous operation in a distributed environment assuring a rapid rendezvous between the cognitive radio nodes having available both symmetric and asymmetric channel views. We also propose an enhancement of the protocol, which uses a torus QS for a slot allocation, dealing with the worst case scenario, a large number of channels with opposite ranking lists.

  11. Halley comet rendezvous with a SEPS vehicle. [Solar Electric Propulsion System (United States)

    Burrows, R. R.


    An analysis of the performance of a Solar Electric Propulsion System (SEPS) vehicle rendezvousing with Halley's comet just prior to its Frebruary 1986 perihelion is described. A calculus of variations mathematical formulation is used to maximize Halley arrival mass while giving effect to the influence of solar array size, launch date, arrival date, and insertion hyperbolic excess velocity. Numerical sensitivity relief, thrust system modeling, trajectory characteristics and ion engine operating conditions are discussed and illustrated. Results indicate a rendezvous is feasible with a minimal advance in solar cell and ion engine technology.

  12. Scheme of rendezvous mission to lunar orbital station by spacecraft launched from Earth (United States)

    Murtazin, R. F.


    In recent years, great experience has been accumulated in manned flight astronautics for rendezvous in near-Earth orbit. During flights of Apollo spacecraft with crews that landed on the surface of the Moon, the problem of docking a landing module launched from the Moon's surface with the Apollo spacecraft's command module in a circumlunar orbit was successfully solved. A return to the Moon declared by leading space agencies requires a scheme for rendezvous of a spacecraft launched from an earth-based cosmodromee with a lunar orbital station. This paper considers some ballistic schemes making it possible to solve this problem with minimum fuel expenditures.

  13. Supervised Transfer Sparse Coding

    KAUST Repository

    Al-Shedivat, Maruan


    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.

  14. Advanced Music Therapy Supervision Training

    DEFF Research Database (Denmark)

    Pedersen, Inge Nygaard


    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...

  15. Learning Dynamics in Doctoral Supervision

    DEFF Research Database (Denmark)

    Kobayashi, Sofie

    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...... of different theoretical frameworks from the perspectives of learning as individual acquisition and a sociocultural perspective on learning contributed to a nuanced illustration of the otherwise implicit practices of supervision....

  16. Group supervision for general practitioners

    DEFF Research Database (Denmark)

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


    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......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...

  17. Reflections on supervision in psychotherapy. (United States)

    Fernández-Alvarez, Héctor


    The aim of the author is to share his reflections on supervision as a central topic in therapists' education and training programs. The concept of supervision, its functions and effects on the training process along with the contributions of different theoretical models to its evolution are addressed. Supervision alliance, the roles of supervisor and supervisee, evaluation as a central component and the influence of socioeconomic factors are discussed. The conclusions depict the most interesting paths for development in the near future and the areas where research needs to be further conducted along with the subjects most worthy of efforts in the supervision field.

  18. Supervision Learning as Conceptual Threshold Crossing: When Supervision Gets "Medieval" (United States)

    Carter, Susan


    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…

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

    NARCIS (Netherlands)

    Cherednychenko, O.O.


    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

  20. Autonomic Nervous System Disorders (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 ...

  1. Inductive Supervised Quantum Learning (United States)

    Monràs, Alex; Sentís, Gael; Wittek, Peter


    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.

  2. Accreditation to supervise research

    International Nuclear Information System (INIS)

    Mauclaire, Laurent


    After a recall of his academic research works, an indication of all his publications and of his teaching and research supervising activities, and a summary of his scientific activity, the author proposes an overview of his research works which addressed the study of radio-tracers for nuclear medicine, and the study of the 2,6 dimethyl beta cyclodextrin. These both topics are then more precisely presented and discussed. For the first one, the author notably studied iodine radiochemistry, and the elaboration of new compounds for dopamine recapturing visualization (development of radio-pharmaceutical drug marked with technetium). For the second one, the author reports the use of modified cyclodextrins for the transport of lipophilic radio-tracers

  3. 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...

  4. Assessment of Counselors' Supervision Processes (United States)

    Ünal, Ali; Sürücü, Abdullah; Yavuz, Mustafa


    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…

  5. Group supervision for general practitioners

    DEFF Research Database (Denmark)

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


    to the communication with local community psychiatry centres. Furthermore, the GPs experienced that supervision had a positive 'spill-over effect' on everyday consultations, and that the supervision group became a forum for coping with other difficulties in their professional life as well. Trust and continuity were...

  6. Rendezvous and Docking Strategy for Crewed Segment of the Asteroid Redirect Mission (United States)

    Hinkel, Heather D.; Cryan, Scott P.; D'Souza, Christopher; Dannemiller, David P.; Brazzel, Jack P.; Condon, Gerald L.; Othon, William L.; Williams, Jacob


    This paper will describe the overall rendezvous, proximity operations and docking (RPOD) strategy in support of the Asteroid Redirect Crewed Mission (ARCM), as part of the Asteroid Redirect Mission (ARM). The focus of the paper is on the crewed mission phase of ARM, starting with the establishment of Orion in the Distant Retrograde Orbit (DRO) and ending with docking to the Asteroid Redirect Vechicle (ARV). The paper will detail the sequence of maneuvers required to execute the rendezvous and proximity operations mission phases along with the on-board navigation strategies, including the final approach phase. The trajectories to be considered will include target vehicles in a DRO. The paper will also discuss the sensor requirements for rendezvous and docking and the various trade studies associated with the final sensor selection. Building on the sensor requirements and trade studies, the paper will include a candidate sensor concept of operations, which will drive the selection of the sensor suite; concurrently, it will be driven by higher level requirements on the system, such as crew timeline constraints and vehicle consummables. This paper will address how many of the seemingly competing requirements will have to be addressed to create a complete system and system design. The objective is to determine a sensor suite and trajectories that enable Orion to successfully rendezvous and dock with a target vehicle in trans lunar space. Finally, the paper will report on the status of a NASA action to look for synergy within RPOD, across the crewed and robotic asteroid missions.

  7. Ion Propulsion Module (IPM) technology readiness assessment: 1985 Halley's Comet rendezvous mission (United States)

    West, J.


    An assessment of the risk of utilizing ion propulsion to perform a rendezvous mission with Halley's comet in 1985 is presented, and consideration recommendations for reducing identified risks to the lowest possible level at project start in October 1978 were made.

  8. Rendezvous Protocols and Dynamic Frequency Hopping Interference Design for Anti-Jamming Satellite Communication (United States)


    Small Aperture Terminal ( VSAT Terminals). Interference is also attributed to the over-crowdedness of the frequency spectrum and the intense competition...User TTR Time-to-Rendezvous UHF Ultra High Frequency VSAT Very Small Aperture Terminal WRAN Wireless Regional Area Network

  9. Optimal planning approaches with multiple impulses for rendezvous based on hybrid genetic algorithm and control method

    Directory of Open Access Journals (Sweden)

    JingRui Zhang


    Full Text Available In this article, we focus on safe and effective completion of a rendezvous and docking task by looking at planning approaches and control with fuel-optimal rendezvous for a target spacecraft running on a near-circular reference orbit. A variety of existent practical path constraints are considered, including the constraints of field of view, impulses, and passive safety. A rendezvous approach is calculated by using a hybrid genetic algorithm with those constraints. Furthermore, a control method of trajectory tracking is adopted to overcome the external disturbances. Based on Clohessy–Wiltshire equations, we first construct the mathematical model of optimal planning approaches of multiple impulses with path constraints. Second, we introduce the principle of hybrid genetic algorithm with both stronger global searching ability and local searching ability. We additionally explain the application of this algorithm in the problem of trajectory planning. Then, we give three-impulse simulation examples to acquire an optimal rendezvous trajectory with the path constraints presented in this article. The effectiveness and applicability of the tracking control method are verified with the optimal trajectory above as control objective through the numerical simulation.

  10. Supervision Duty of School Principals

    Directory of Open Access Journals (Sweden)

    Kürşat YILMAZ


    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.

  11. Project Supervision - An Engineering Approach

    DEFF Research Database (Denmark)

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


    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...... supervision. This paper is a best practice guide aiming at research groups that would like to try to implement our supervision approach or parts of it. The approach is based on the belief that engineering students should be prepared for their new role as development engineers or PhD students as part...... 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...

  12. Partially supervised speaker clustering. (United States)

    Tang, Hao; Chu, Stephen Mingyu; Hasegawa-Johnson, Mark; Huang, Thomas S


    Content-based multimedia indexing, retrieval, and processing as well as multimedia databases demand the structuring of the media content (image, audio, video, text, etc.), one significant goal being to associate the identity of the content to the individual segments of the signals. In this paper, we specifically address the problem of speaker clustering, the task of assigning every speech utterance in an audio stream to its speaker. We offer a complete treatment to the idea of partially supervised speaker clustering, which refers to the use of our prior knowledge of speakers in general to assist the unsupervised speaker clustering process. By means of an independent training data set, we encode the prior knowledge at the various stages of the speaker clustering pipeline via 1) learning a speaker-discriminative acoustic feature transformation, 2) learning a universal speaker prior model, and 3) learning a discriminative speaker subspace, or equivalently, a speaker-discriminative distance metric. We study the directional scattering property of the Gaussian mixture model (GMM) mean supervector representation of utterances in the high-dimensional space, and advocate exploiting this property by using the cosine distance metric instead of the euclidean distance metric for speaker clustering in the GMM mean supervector space. We propose to perform discriminant analysis based on the cosine distance metric, which leads to a novel distance metric learning algorithm—linear spherical discriminant analysis (LSDA). We show that the proposed LSDA formulation can be systematically solved within the elegant graph embedding general dimensionality reduction framework. Our speaker clustering experiments on the GALE database clearly indicate that 1) our speaker clustering methods based on the GMM mean supervector representation and vector-based distance metrics outperform traditional speaker clustering methods based on the “bag of acoustic features” representation and statistical

  13. Local supervision of solariums

    International Nuclear Information System (INIS)


    In Norway, new regulations on radiation protection and application of radiation came into force on the first of January 2004. Local authorities may now perform the supervision of solariums. There are over 500 solar studios in Norway, with over 5000 solariums accessible to the public. An unknown number of solariums are in private homes, on workplaces, and in hotels and fitness studios. Norway currently has the highest frequency of skin cancer in Europe. The frequency of mole cancer has increased sixfold during the last 30 years, and 200 people die each year of this type of cancer. The Nordic cancer registers estimate that 95 per cent of the skin cancer incidences would have been avoided by limiting sunbathing. It is unknown how many cases are due to the use of solariums. But several studies indicate increased risk of mole cancer caused by solariums. It was found in previous inspection of 130 solariums that only 30 per cent had correct tubes and lamps. Only one solarium satisfied all the requirements of the regulations. But this has since improved. With the new regulations, all solarium businesses offering cosmetic solariums for sale, renting out or use have an obligation to submit reports to the Radiation Protection Authority

  14. Online supervision at the university

    DEFF Research Database (Denmark)

    Bengtsen, Søren Smedegaard; Jensen, Gry Sandholm


    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...... pedagogy we forge a new concept of “format supervision” that enables supervisors to understand and reflect their supervision practice, not as caught in the physical-virtual divide, but as a choice between face-to-face and online formats that each conditions the supervisory dialogue in their own particular...

  15. Proximity Operations Nano-Satellite Flight Demonstration (PONSFD) Rendezvous Proximity Operations Design and Trade Studies (United States)

    Griesbach, J.; Westphal, J. J.; Roscoe, C.; Hawes, D. R.; Carrico, J. P.


    The Proximity Operations Nano-Satellite Flight Demonstration (PONSFD) program is to demonstrate rendezvous proximity operations (RPO), formation flying, and docking with a pair of 3U CubeSats. The program is sponsored by NASA Ames via the Office of the Chief Technologist (OCT) in support of its Small Spacecraft Technology Program (SSTP). The goal of the mission is to demonstrate complex RPO and docking operations with a pair of low-cost 3U CubeSat satellites using passive navigation sensors. The program encompasses the entire system evolution including system design, acquisition, satellite construction, launch, mission operations, and final disposal. The satellite is scheduled for launch in Fall 2015 with a 1-year mission lifetime. This paper provides a brief mission overview but will then focus on the current design and driving trade study results for the RPO mission specific processor and relevant ground software. The current design involves multiple on-board processors, each specifically tasked with providing mission critical capabilities. These capabilities range from attitude determination and control to image processing. The RPO system processor is responsible for absolute and relative navigation, maneuver planning, attitude commanding, and abort monitoring for mission safety. A low power processor running a Linux operating system has been selected for implementation. Navigation is one of the RPO processor's key tasks. This entails processing data obtained from the on-board GPS unit as well as the on-board imaging sensors. To do this, Kalman filters will be hosted on the processor to ingest and process measurements for maintenance of position and velocity estimates with associated uncertainties. While each satellite carries a GPS unit, it will be used sparsely to conserve power. As such, absolute navigation will mainly consist of propagating past known states, and relative navigation will be considered to be of greater importance. For relative observations

  16. A Mission Management Framework for Unmanned Autonomous Vehicles (United States)

    Asmare, Eskindir; Gopalan, Anandha; Sloman, Morris; Dulay, Naranker; Lupu, Emil

    Unmanned Autonomous Vehicles (UAVs) are increasingly deployed for missions that are deemed dangerous or impractical to perform by humans in many military and disaster scenarios. UAVs in a team need to operate in sub-groups or independently to perform specific tasks, but still synchronise state information regularly and cope with intermittent communication failures as well as permanent UAV failures. This paper describes a failure management scheme that copes with failures, which may result in disjoint sub-networks within the team. A communication management protocol is proposed to control UAVs performing disconnected individual operations, while maintaining the team’s structure by trying to ensure that all members of the mission rendezvous to communicate at intermittent intervals. The evaluation of the proposed approaches shows that the schemes are scalable and perform significantly better than similar centralised approaches.

  17. Tools and Techniques for a Systematic Approach to Safe Rendezvous and Proximity Operations (United States)

    Taylor, Rob; Rishikof, Brian


    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

  18. 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...

  19. Weakly Supervised Deep Detection Networks


    Bilen, Hakan; Vedaldi, Andrea


    Weakly supervised learning of object detection is an important problem in image understanding that still does not have a satisfactory solution. In this paper, we address this problem by exploiting the power of deep convolutional neural networks pre-trained on large-scale image-level classification tasks. We propose a weakly supervised deep detection architecture that modifies one such network to operate at the level of image regions, performing simultaneously region selection and classificati...

  20. Developing a scientific culture through supervision

    Directory of Open Access Journals (Sweden)

    Danie F.M. Strauss


    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.

  1. Autonomous Mission Operations (United States)

    National Aeronautics and Space Administration — The AES Autonomous Mission Operations project will develop understanding of the impacts of increasing communication time delays on mission operations and develop...

  2. 20 CFR 656.21 - Supervised recruitment. (United States)


    ... 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...

  3. Educational Supervision Appropriate for Psychiatry Trainee's Needs (United States)

    Rele, Kiran; Tarrant, C. Jane


    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…

  4. Analysis for orbital rendezvous of Chang'E-5 using SBI technique (United States)

    Huang, Y.; Shan, Q.; Li, P.


    Chang'E-5 will be launched in later 2017/early 2018 using a new generation rocket from Wenchang satellite launch center, Hainan, China. It is a lunar sampling return mission, and it is the first time for China to carry out orbital rendezvous and docking in the Moon. How to achieve orbital rendezvous successfully in the Moon is very important in Chang'E-5 mission. Orbital rendezvous will be implemented between an orbiter and an ascender 200 km above the Moon. The ground tracking techniques include range, Doppler and VLBI, and they will be used to track the orbiter and the ascender when the ascender is about 70 km farther away from the orbiter. Later the ascender will approach the orbiter automatically. As a successful example, in Chang'E-3, the differential phase delay (delta delay) data between the rover and the lander are obtained with a random error of about 1 ps, and the relative position of the rover is determined with an accuracy of several meters by using same beam VLBI (SBI) technique. Here the application of the SBI technique for Chang'E-5 orbital rendezvous is discussed. SBI technique can be used to track the orbiter and the ascender simultaneously when they are in the same beam. Delta delay of the two probes can be derived, and the measurement accuracy is much higher than that of the traditional VLBI data because of the cancelation of common errors. Theoretically it can result in a more accurate relative orbit between the two probes. In the simulation, different strategies are discussed to analyze the contribution of SBI data to the orbit accuracy improvement especially relative orbit between the orbiter and ascender. The simulation results show that the relative position accuracy of the orbiter and ascender can reach about 1 m with delta delay data of 10 ps.

  5. Radiation effects in the Si-PIN detector on the Near Earth Asteroid Rendezvous mission

    CERN Document Server

    Starr, R; Evans, L G; Floyd, S R; McClanahan, T P; Trombka, J I; Goldsten, J O; Maurer, R H; McNutt, R L; Roth, D R


    A Si-PIN photodiode is being used as a solar X-ray monitor on the X-ray/gamma-ray spectrometer experiment which is flying on the Near Earth Asteroid Rendezvous spacecraft. Since its launch in February 1996 this photodiode has experienced several brief failures. These anomalies and other performance characteristics will be described. Efforts to reproduce these failures in ground tests with flight spare equipment will also be discussed.



    Amrita Sadarangani *, Dr. Anjali Jivani


    Semi Supervised Learning involves using both labeled and unlabeled data to train a classifier or for clustering. Semi supervised learning finds usage in many applications, since labeled data can be hard to find in many cases. Currently, a lot of research is being conducted in this area. This paper discusses the different algorithms of semi supervised learning and then their advantages and limitations are compared. The differences between supervised classification and semi-supervised classific...

  7. Clinical supervision in a community setting. (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.

  8. Clinical supervision: the state of the art. (United States)

    Falender, Carol A; Shafranske, Edward P


    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. © 2014 Wiley Periodicals, Inc.

  9. Tele-Supervised Adaptive Ocean Sensor Fleet (United States)

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


    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

  10. Semi-Autonomous Systems Laboratory (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...

  11. Exercise and the autonomic nervous system. (United States)

    Fu, Qi; Levine, Benjamin D


    The autonomic nervous system plays a crucial role in the cardiovascular response to acute (dynamic) exercise in animals and humans. During exercise, oxygen uptake is a function of the triple-product of heart rate and stroke volume (i.e., cardiac output) and arterial-mixed venous oxygen difference (the Fick principle). The degree to which each of the variables can increase determines maximal oxygen uptake (V˙O2max). Both "central command" and "the exercise pressor reflex" are important in determining the cardiovascular response and the resetting of the arterial baroreflex during exercise to precisely match systemic oxygen delivery with metabolic demand. In general, patients with autonomic disorders have low levels of V˙O2max, indicating reduced physical fitness and exercise capacity. Moreover, the vast majority of the patients have blunted or abnormal cardiovascular response to exercise, especially during maximal exercise. There is now convincing evidence that some of the protective and therapeutic effects of chronic exercise training are related to the impact on the autonomic nervous system. Additionally, training induced improvement in vascular function, blood volume expansion, cardiac remodeling, insulin resistance and renal-adrenal function may also contribute to the protection and treatment of cardiovascular, metabolic and autonomic disorders. Exercise training also improves mental health, helps to prevent depression, and promotes or maintains positive self-esteem. Moderate-intensity exercise at least 30 minutes per day and at least 5 days per week is recommended for the vast majority of people. Supervised exercise training is preferable to maximize function capacity, and may be particularly important for patients with autonomic disorders. © 2013 Elsevier B.V. All rights reserved.

  12. Human semi-supervised learning. (United States)

    Gibson, Bryan R; Rogers, Timothy T; Zhu, Xiaojin


    Most empirical work in human categorization has studied learning in either fully supervised or fully unsupervised scenarios. Most real-world learning scenarios, however, are semi-supervised: Learners receive a great deal of unlabeled information from the world, coupled with occasional experiences in which items are directly labeled by a knowledgeable source. A large body of work in machine learning has investigated how learning can exploit both labeled and unlabeled data provided to a learner. Using equivalences between models found in human categorization and machine learning research, we explain how these semi-supervised techniques can be applied to human learning. A series of experiments are described which show that semi-supervised learning models prove useful for explaining human behavior when exposed to both labeled and unlabeled data. We then discuss some machine learning models that do not have familiar human categorization counterparts. Finally, we discuss some challenges yet to be addressed in the use of semi-supervised models for modeling human categorization. Copyright © 2013 Cognitive Science Society, Inc.

  13. Testing for autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J


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

  14. Cultural Humility in Psychotherapy Supervision. (United States)

    Hook, Joshua N; Watkins, C Edward; Davis, Don E; Owen, Jesse; Van Tongeren, Daryl R; Ramos, Marciana J


    As a core component of multicultural orientation, cultural humility can be considered an important attitude for clinical supervisees to adopt and practically implement. How can cultural humility be most meaningfully incorporated in supervision? In what ways can supervisors stimulate the development of a culturally humble attitude in our supervisees? We consider those questions in this paper and present a model for addressing cultural humility in clinical supervision. The primary focus is given to two areas: (a) modeling and teaching of cultural humility through interpersonal interactions in supervision, and (b) teaching cultural humility through outside activities and experiences. Two case studies illustrating the model are presented, and a research agenda for work in this area is outlined.

  15. Challenges for Better thesis supervision. (United States)

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


    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.

  16. Is Autonomous Practice Possible? (United States)

    Epstein, Laura


    The effects of supervision on the social workers's autonomy and productivity are analyzed in this article. Suggestions are made for more effective professional operation even within the often unavoidable bureaucratic structure. (Author)

  17. Sundhedsfaglig supervision som klinisk metode

    DEFF Research Database (Denmark)

    Nordentoft, Helle Merete


    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 med...... afsæt i forfatterens ph.d.-projekt om SFS. Denne introduktion suppleres af en mere indgående og kritisk diskussion af sundhedsfaglig supervision som metode, dens udfordringer og potentialer i en organisatorisk kontekst, der er præget af forandringer og krav om dokumentation. Afslutningsvis peges på...

  18. Vision Based Navigation for Autonomous Cooperative Docking of CubeSats (United States)

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


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

  19. Structured Peer Group Practicum Supervision: Supervisees' Perceptions of Supervision Theory. (United States)

    Starling, Paulette V.; Baker, Stanley B.


    Discusses a thematic analysis of retrospective phenomenological interviews with four group counseling practicum participants. Suggests the importance of peer feedback supports experimenting with different approaches to the group process. Recommends future research on the impact of group counseling practicum supervision be structured to allow…

  20. Consultative Instructor Supervision and Evaluation (United States)

    Lee, William W.


    Organizations vary greatly in how they monitor training instructors. The methods used in monitoring vary greatly. This article presents a systematic process for improving instructor skills that result in better teaching and better learning, which results in better-prepared employees for the workforce. The consultative supervision and evaluation…

  1. Adequate supervision for children and adolescents. (United States)

    Anderst, James; Moffatt, Mary


    Primary care providers (PCPs) have the opportunity to improve child health and well-being by addressing supervision issues before an injury or exposure has occurred and/or after an injury or exposure has occurred. Appropriate anticipatory guidance on supervision at well-child visits can improve supervision of children, and may prevent future harm. Adequate supervision varies based on the child's development and maturity, and the risks in the child's environment. Consideration should be given to issues as wide ranging as swimming pools, falls, dating violence, and social media. By considering the likelihood of harm and the severity of the potential harm, caregivers may provide adequate supervision by minimizing risks to the child while still allowing the child to take "small" risks as needed for healthy development. Caregivers should initially focus on direct (visual, auditory, and proximity) supervision of the young child. Gradually, supervision needs to be adjusted as the child develops, emphasizing a safe environment and safe social interactions, with graduated independence. PCPs may foster adequate supervision by providing concrete guidance to caregivers. In addition to preventing injury, supervision includes fostering a safe, stable, and nurturing relationship with every child. PCPs should be familiar with age/developmentally based supervision risks, adequate supervision based on those risks, characteristics of neglectful supervision based on age/development, and ways to encourage appropriate supervision throughout childhood. Copyright 2014, SLACK Incorporated.

  2. Autonomous Systems and Operations (United States)

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

  3. Autonomous Systems: Habitat Automation (United States)

    National Aeronautics and Space Administration — The Habitat Automation Project Element within the Autonomous Systems Project is developing software to automate the automation of habitats and other spacecraft. This...

  4. Autonomous Propellant Loading Project (United States)

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

  5. Highly Autonomous Systems Workshop


    Doyle, Richard; Rasmussen, Robert; Man, Guy; Patel, Keyur


    Researchers and technology developers from the National Aeronautics and Space Administration (NASA), other government agencies, academia, and industry recently met in Pasadena, California, to take stock of past and current work and future challenges in the application of AI to highly autonomous systems. The meeting was catalyzed by new opportunities in developing autonomous spacecraft for NASA and was in part a celebration of the fictional birth year of the HAL-9000 computer.

  6. Autonomous Intersection Management (United States)


    and analyzing my algorithms for correctness and rigor. Third, Tarun Nimmagadda, for creating the first mixed simulation using my simulator. In addition...Agent Systems, 10(2):131–164, March 2005. [Beeson et al., 2008] Patrick Beeson, Jack O’Quin, Bartley Gillan, Tarun Nimma- gadda, Mickey Ristroph, David...autonomous vehicles at intersections. IEEE Intelligent Systems, 13(3):82–86, May 1998. [Nimmagadda, 2009] Tarun Nimmagadda. Building an autonomous ground

  7. Autonomous Star Tracker Algorithms

    DEFF Research Database (Denmark)

    Betto, Maurizio; Jørgensen, John Leif; Kilsgaard, Søren


    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....

  8. Multi combined Adlerian supervision in Counseling


    Gungor, Abdi


    For counselor professional and counselor education, supervision is an important process, in which more experienced professional helps and guides less experienced professional. To provide an effective and beneficial supervision, various therapy, development, or process based approaches and models have been developed. In addition, different eclectic models integrating more than one model have been developed. In this paper, as a supervision model, multi combined Adlerian supervision model is pro...

  9. How should we evaluate supervised hashing?


    Sablayrolles, Alexandre; Douze, Matthijs; Jégou, Hervé; Usunier, Nicolas


    Hashing produces compact representations for documents, to perform tasks like classification or retrieval based on these short codes. When hashing is supervised, the codes are trained using labels on the training data. This paper first shows that the evaluation protocols used in the literature for supervised hashing are not satisfactory: we show that a trivial solution that encodes the output of a classifier significantly outperforms existing supervised or semi-supervised methods, while using...

  10. [Idiopathic autonomic neuropathy (pandysautonomia)]. (United States)

    Jankowicz, E; Drozdowski, W; Pogumirski, J


    On the basis of current literature, clinical and neuropathologic features of idiopathic autonomic neuropathy is presented. Idiopathic autonomic neuropathy is a disease characterized by acute or subacute onset, monophasic course over a period of several years, it is often preceded by an infection. The spectrum of autonomic changes ranges from cholinergic or adrenergic dysfunction to pandysautonomia, leading to heterogeneity of its clinical features. Possible sympathetic system abnormalities found in autonomic neuropathy are: poor pupillary response to light in darkness, orthostatic hypotension leading to syncope, hypotension without compensatory tachycardia, ejaculation disturbances and vasomotor instability. Possible parasympathetic dysfunctions are: salivation and lacrimation disturbances, absent pupillary constriction to light and near gaze, gastrointestinal tract immobility and impairment of gastrointestinal function, atonic bladder with large residual volume, erectile impotence. Pandysautonomia is thought to result from an immune mediated mechanism and responds well to plasmaferesis and intravenous immunoglobin therapy leading to gradual, sometimes not full, recovery. Moreover in this article we pay attention to the clinical value of many tests like cardiovascular or pharmacological studies in the diagnosis of pandysautonomia and in differentiation of pre- and postganglionic changes. In order to diagnose idiopathic autonomic neuropathy one has to rule out a large number of diseases with autonomic dysfunction e.g.: diabetes, malignant neoplasms, acute intermittent porphyria, Shy-Drager syndrome, Riley-Day's dysautonomia, Parkinson's disease, amyloidosis and others.

  11. Autonomous, agile micro-satellites and supporting technologies

    International Nuclear Information System (INIS)

    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


    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

  12. Ion drive technology readiness for the 1985 Halley Comet rendezvous mission (United States)

    West, J. L.


    Results of a study undertaken in FY 77 to assess readiness by 1985 for a Halley's Comet rendezvous mission (HCR) are presented with reference to already identified risks, e.g., a marginal mass margin of 6.7%, driven by uncertainties in ion drive vehicle masses, and an unconfirmed solar array power degradation model of 12%. Technology for two of the six subsystems, thrust and solar array, is also largely undemonstrated. High-, medium-, and low-risk subsystems are evaluated and compared with one another. Among the low-risk subsystems are those relating to structure, data handling, temperature control, and power supply.

  13. Postgraduate research supervision in a socially distributed ...

    African Journals Online (AJOL)

    In this article we discuss different models of postgraduate supervision and suggest that a new model of supervision might be emerging as we move towards a more socially distributed knowledge system. In such a model, those involved in the supervision process would include partners other than university lecturers and ...

  14. 20 CFR 655.30 - Supervised recruitment. (United States)


    ... 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...

  15. The Learning Alliance: Ethics in Doctoral Supervision (United States)

    Halse, Christine; Bansel, Peter


    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…

  16. Moment constrained semi-supervised LDA

    DEFF Research Database (Denmark)

    Loog, Marco


    This BNAIC compressed contribution provides a summary of the work originally presented at the First IAPR Workshop on Partially Supervised Learning and published in [5]. It outlines the idea behind supervised and semi-supervised learning and highlights the major shortcoming of many current methods...

  17. Multicultural Supervision: What Difference Does Difference Make? (United States)

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


    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…

  18. 24 CFR 200.105 - Mortgagor supervision. (United States)


    ... 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. ...

  19. 75 FR 59799 - Office of Thrift Supervision (United States)


    ... 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 requirement...

  20. 32 CFR 631.3 - Supervision. (United States)


    ... 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 off-installation...

  1. 7 CFR 550.33 - Administrative supervision. (United States)


    ... 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. ...

  2. 40 CFR 35.935-8 - Supervision. (United States)


    ... 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 and...

  3. 10 CFR 35.27 - Supervision. (United States)


    ... 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 the...

  4. Supervision Experiences of New Professional School Counselors (United States)

    Bultsma, Shawn A.


    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,…

  5. 27 CFR 46.79 - Supervision. (United States)


    ... 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 another...

  6. 48 CFR 836.572 - Government supervision. (United States)


    ... 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, in...

  7. 7 CFR 56.6 - Supervision. (United States)


    ... 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 at...

  8. 9 CFR 354.13 - Supervision. (United States)


    ... 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, circuit...

  9. 27 CFR 70.609 - Supervision. (United States)


    ... 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 supervision...

  10. 28 CFR 2.91 - Supervision responsibility. (United States)


    ... 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 Court...

  11. A National Survey of School Counselor Supervision Practices: Administrative, Clinical, Peer, and Technology Mediated Supervision (United States)

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


    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…

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

    CERN Document Server

    Marani, Giacomo


    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...


    Directory of Open Access Journals (Sweden)

    Lavinia Mihaela GUȚU


    Full Text Available The need for prudential supervision imposed to banks by law arises from the action that banking market’s basic factors have. Therefore, it is about banks’ role in economy. The normal functioning of banks in all their important duties maintains the stability of banking system. Further, the stability of the entire economy depends on the stability of the banking system. Under conditions of imbalance regarding treasury or liquidity, banks are faced with unmanageable crisis and the consequences can be fatal. To ensure long-term stability of the banking system, supervisory regulations were constituted in order to prevent banks focusing on achieving rapidly high profits and protect the interests of depositors. Starting from this point, this paper will carry out a study on existing models of supervision in the European Union’s Member States. A comparison between them will support identifying the advantages and disadvantages of each of them.

  14. Supervision Experiences of Professional Counselors Providing Crisis Counseling (United States)

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


    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.

  15. Application of Contingency Theories to the Supervision of Student Teachers. (United States)

    Phelps, Julia D.


    This article examines selected approaches to student teacher supervision within the context of contingency theory. These include authentic supervision, developmental supervision, and supervision based on the student's level of maturity. (MT)



    Lavinia Mihaela GUȚU; Vasile ILIE


    The need for prudential supervision imposed to banks by law arises from the action that banking market’s basic factors have. Therefore, it is about banks’ role in economy. The normal functioning of banks in all their important duties maintains the stability of banking system. Further, the stability of the entire economy depends on the stability of the banking system. Under conditions of imbalance regarding treasury or liquidity, banks are faced with unmanageable crisis and the consequences ca...

  17. Supervised Classification Using Balanced Training


    Du, Mian; Pierce, Matthew; Pivovarova, Lidia; Yangarber, Roman


    We examine supervised learning for multi-class, multi-label text classification. We are interested in exploring classification in a real-world setting, where the distribution of labels may change dynamically over time. First, we compare the performance of an array of binary classifiers trained on the label distribution found in the original corpus against classifiers trained on balanced data, where we try to make the label distribution as nearly uniform as possible. We discuss the performance...

  18. Medical supervision of radiation workers

    International Nuclear Information System (INIS)


    The first part of this volume describes the effects of radiation on living organism, both at the overall and at the molecular level. Special attention is paid to the metabolism and toxicity of radioactivity substances. The second part deals with radiological exposure, natural, medical and occupational. The third part provides data on radiological protection standards, and the fourth part addresses the health supervision of workers exposed to ionizing radiation, covering both physical and medical control.

  19. Semi-supervised sparse coding

    KAUST Repository

    Wang, Jim Jing-Yan


    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.

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

    Directory of Open Access Journals (Sweden)

    Denilson Paulo Souza dos Santos


    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.

  1. Space Shuttle Guidance, Navigation, and Rendezvous Knowledge Capture Reports. Revision 1 (United States)

    Goodman, John L.


    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.

  2. Nursing supervision for care comprehensiveness. (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


    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

  3. Autonomous surveillance for biosecurity. (United States)

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


    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.

  4. Autonomous Deep-Space Optical Navigation Project (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. ...

  5. Supervised Object Class Colour Normalisation

    DEFF Research Database (Denmark)

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


    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...

  6. Overview of the Autonomic Nervous System (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 ...

  7. 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


    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

  8. Towards autonomous vehicles. (United States)


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

  9. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel


    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...

  10. ADAM: ADaptive Autonomous Machine

    NARCIS (Netherlands)

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


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

  11. Semi-supervised clustering methods (United States)

    Bair, Eric


    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

  12. Judicial supervision of enforcement agents

    Directory of Open Access Journals (Sweden)

    Bodiroga Nikola


    Full Text Available The main focus of this paper is the supervision of enforcement agents conducted by enforcement courts. Law on Enforcement and Security recognizes three levels of control of enforcement agents. Certain monitoring powers are delegated to the Ministry of Justice and to Chamber of Enforcement Agents. However, for parties and other participants to enforcement proceedings control of enforcement agents implemented by enforcement courts seems to be the most important one. The strongest powers of enforcement agents are related to the special procedure for collection of claims for utilities and other similar services (exclusive competence of enforcement agents and for carrying out the enforcement (if enforcement creditor has requested it. When it comes to special procedure for collection of claims for utilities and other similar services objection can be used in order to control legality of decisions rendered by enforcements agents. However, many procedural issues related to the objection procedure remain unsolved. Motion for correction of irregularities is the only legal remedy that can be used when enforcement is being carried out by enforcement agents. This legal remedy cannot be considered an effective one in the sense of Article 13 European Convention for Protection of Human Rights and Fundamental Liberties. The new proposed Law on Enforcement and Security expected to come into force on July 1, 2016, will delegate the exclusive competence for carrying out the enforcement to enforcement agents (except cases related to family relations and reinstatement, but it will not improve the court supervision of their work.

  13. Orbit determination for the Mariner Mark II Comet Rendezvous/Asteroid Flyby mission - The orbiting phase (United States)

    Weeks, C. J.


    The Comet Rendezvous/Asteroid Flyby (CRAF) mission is the first of the Mariner Mark II mission set, designed to explore the outer solar system. Major objectives of orbit determination will be determine the positions and masses of the comet and asteroid and the relative position of the spacecraft, which is important to accurate pointing of the scan platform on which the narrow angle camera and scientific instruments are positioned. Position prediction is also important, since continuous commuication with the spacecraft will not be possible. The small gravitational attractions and poorly known ephemerides of the comet and asteroid, and the small, slow spacecraft orbit about the comet, pose significant new problems for orbit determination. Results of simulations studying the effectiveness of key data types, the accuracies of estimates, and prediction capabilities, are presented.

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

    Directory of Open Access Journals (Sweden)

    Zhuoshi Li


    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.

  15. Determination of Eros Physical Parameters for Near Earth Asteroid Rendezvous Orbit Phase Navigation (United States)

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


    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

  16. The Optimization of setting the Supervision in Organization


    Vyštejnová, Markéta


    The Optimization of setting the Supervision in Organization Abstract This diploma thesis aims to optimize supervision in organization providing social services. The theoretical part contains chapters about supervision, explains the function and types of supervision, the supervisor's personality, the content of the supervision contract and ethical principles in supervision. This part describes the organization's culture and its impact on supervision. The theoretical part concludes with a chapt...

  17. Supervision in Motivational Interviewing: An Exploratory Study. (United States)

    Beckman, Maria; Bohman, Benjamin; Forsberg, Lars; Rasmussen, Finn; Ghaderi, Ata


    Although supervision is believed to be an important strategy for training practitioners in evidence-based practice, little is known about how it should be organized and conducted to promote implementation fidelity. To explore supervisor behaviours that might facilitate supervisees' proficiency in motivational interviewing. In this exploratory study, ten supervisors from a primary prevention intervention of childhood obesity responded to semi-structured interviews about their supervision behaviours. A mixed method approach was used; both qualitative and quantitative data were collected and analysed. The supervisors reported using several sources of information for evaluating and providing systematic feedback on supervisees' performance. However, the majority did not use the available objective measures of proficiency as the primary source. Moreover, half of the supervisors argued that objective feedback might have a punishing effect on the supervisees. Variation in the use of supervision components that previous research has proposed to be potentially influential to the process and outcome may lead to less efficient supervision. Findings suggest that appropriate supervision activities conducted in each supervision session require clear supervision principles that specify the content and procedure of the supervision, as well as regular adherence monitoring of the supervision sessions.

  18. Clinical supervision in a challenging behaviour unit. (United States)

    Carney, Stewart

    As part of an ongoing service development programme at St Andrew's Hospital, Northampton, it was identified that it would be beneficial to explore whether qualified nursing staff in the hospital's five clinical divisions were satisfied with the clinical supervision they received. Also, the survey examined whether supervision was of good quality, was suitable for different specialist environments and if it affected motivation, skills, confidence and stress levels. The survey also explored if there was a difference between D or E-grade nurses and nurses who are F grade and above regarding their perception of clinical supervision. This included a Likert scaled questionnaire (Ladany et al, 1996); and a retrospective (ex-post-facto) cross-sectional survey design. A questionnaire and information sheet was dispatched to 50 qualified nursing staff. Ten nurses from each of the five divisions were invited to participate. After one month, 35 (70 per cent) had returned the questionnaires. Senior staff benefit more and are more satisfied with regular supervision than junior staff. The survey shows that clinical supervision is in quite good shape, with most nurses receiving regular supervision within a limited time span. Large numbers of qualified nurses receive supervision in the hospital and this is extremely positive. However, there are a number of discrepancies regarding who receives supervision, and within what time frame, and why so many qualified nurses feel the supervision is not helping them work more effectively.

  19. Supervised Learning Applied to Air Traffic Trajectory Classification (United States)

    Bosson, Christabelle; Nikoleris, Tasos


    Given the recent increase of interest in introducing new vehicle types and missions into the National Airspace System, a transition towards a more autonomous air traffic control system is required in order to enable and handle increased density and complexity. This paper presents an exploratory effort of the needed autonomous capabilities by exploring supervised learning techniques in the context of aircraft trajectories. In particular, it focuses on the application of machine learning algorithms and neural network models to a runway recognition trajectory-classification study. It investigates the applicability and effectiveness of various classifiers using datasets containing trajectory records for a month of air traffic. A feature importance and sensitivity analysis are conducted to challenge the chosen time-based datasets and the ten selected features. The study demonstrates that classification accuracy levels of 90% and above can be reached in less than 40 seconds of training for most machine learning classifiers when one track data point, described by the ten selected features at a particular time step, per trajectory is used as input. It also shows that neural network models can achieve similar accuracy levels but at higher training time costs.

  20. Design and realization of an autonomous solar system (United States)

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


    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.

  1. 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 (United States)

    Dennehy, Cornelius J.; Carpenter, James R.


    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.

  2. Social bonds under supervision : Associating social bonds of probationers with supervision failure

    NARCIS (Netherlands)

    Lamet, W.; Dirkzwager, A.J.E.; Denkers, A.J.M.; van der Laan, P.H.


    Little is known about the role of social bonds and criminal bonds in relation to probation supervision failure. This study examined probation supervision failure in a sample of 13,091 discharged adult probationers in the Netherlands. We examined the relationship between supervision failure and

  3. Empirical study of supervised gene screening

    Directory of Open Access Journals (Sweden)

    Ma Shuangge


    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.

  4. Self-supervised dynamical systems

    International Nuclear Information System (INIS)

    Zak, Michail


    A new type of dynamical systems which capture the interactions via information flows typical for active multi-agent systems is introduced. The mathematical formalism is based upon coupling the classical dynamical system (with random components caused by uncertainties in initial conditions as well as by Langevin forces) with the corresponding Liouville or the Fokker-Planck equations describing evolution of these uncertainties in terms of probability density. The coupling is implemented by information-based supervising forces which fundamentally change the patterns of probability evolution. It is demonstrated that the probability density can approach prescribed attractors while exhibiting such patterns as shock waves, solitons and chaos in probability space. Applications of these phenomena to information-based neural nets, expectation-based cooperation, self-programmed systems, control chaos using terminal attractors as well as to games with incomplete information, are addressed. A formal similarity between the mathematical structure of the introduced dynamical systems and quantum mechanics is discussed

  5. 28 CFR 2.207 - Supervision reports to Commission. (United States)


    ... 28 Judicial Administration 1 2010-07-01 2010-07-01 false Supervision reports to Commission. 2.207....207 Supervision reports to Commission. A regular supervision report shall be submitted to the Commission by the supervision officer after the completion of 12 months of continuous community supervision...

  6. Autonomous Robot Retrieval System


    Ahern, S.


    Mobile robots are increasingly being deployed in environments hazardous to humans. However, many of these robots require remote control operation or are tethered, requiring the human operator to remain within a potentially hazardous radius of the area of operation. To resolve this issue an Autonomous Robot Retrieval System (ARRS) utilising Open RatSLAM based on the Lego NXT 2.0 robotics platform is proposed but could not be implemented due to memory limitations of the hardware. An occupancy g...

  7. Nature's Autonomous Oscillators (United States)

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


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

  8. Interaction in PhD supervision

    DEFF Research Database (Denmark)

    Kobayashi, Sofie; Grout, Brian William Wilson; Rump, Camilla Østerberg

    This paper contains an analysis of a single supervision session, undertaken with the aim of identifying how learning opportunities might be created for a PhD student. The supervision session concerned methodologies to be employed in a PhD study related to storm water management and included the P...

  9. On Cavellian scepticism and postgraduate student supervision ...

    African Journals Online (AJOL)

    In this essay I offer an imaginary of postgraduate student supervision focusing on sceptical encounters with the other. Drawing on the seminal thoughts of Harvard philosopher Stanley Cavell (1997), particularly on his ideas on 'living with scepticism', I argue that postgraduate student supervision ought to be an encounter ...

  10. A Phenomenological Investigation of "Good" Supervision Events. (United States)

    Worthen, Vaughn; McNeill, Brian W.


    Explored the experience of "good" supervision events from the perspective of supervisees using a qualitative phenomenological research methodology. Eight intermediate-level to advanced-level trainees participated in a tape-recorded interview in which they described a recent good supervision experience, yielding transcripts that were subjected to a…

  11. On Cavellian Scepticism and Postgraduate Student Supervision (United States)

    Waghid, Y.


    In this essay I offer an imaginary of postgraduate student supervision focusing on sceptical encounters with the other. Drawing on the seminal thoughts of Harvard philosopher Stanley Cavell (1997), particularly on his ideas on "living with scepticism", I argue that postgraduate student supervision ought to be an encounter framed by…

  12. A Gestalt Approach to Group Supervision (United States)

    Melnick, Joseph; Fall, Marijane


    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. Wellness Model of Supervision: A Comparative Analysis (United States)

    Lenz, A. Stephen; Sangganjanavanich, Varunee Faii; Balkin, Richard S.; Oliver, Marvarene; Smith, Robert L.


    This quasi-experimental study compared the effectiveness of the Wellness Model of Supervision (WELMS; Lenz & Smith, 2010) with alternative supervision models for developing wellness constructs, total personal wellness, and helping skills among counselors-in-training. Participants were 32 master's-level counseling students completing their…

  14. The Agile Approach with Doctoral Dissertation Supervision (United States)

    Tengberg, Lars Göran Wallgren


    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…

  15. 19 CFR 111.28 - Responsible supervision. (United States)


    ... exercise responsible supervision and control (see § 111.1) over the transaction of the customs business of... 19 Customs Duties 1 2010-04-01 2010-04-01 false Responsible supervision. 111.28 Section 111.28 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE...

  16. Applying Services Marketing Principles to Postgraduate Supervision (United States)

    Dann, Stephen


    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…

  17. The Elements: A Model of Mindful Supervision (United States)

    Sturm, Deborah C.; Presbury, Jack; Echterling, Lennis G.


    Mindfulness, based on an ancient spiritual practice, is a core quality and way of being that can deepen and enrich the supervision of counselors. This model of mindful supervision incorporates Buddhist and Hindu conceptualizations of the roles of the five elements--space, earth, water, fire, air--as they relate to adhikara or studentship, the…

  18. Boosting for Multiclass Semi-Supervised Learning

    NARCIS (Netherlands)

    Tanha, J.; van Someren, M.; Afsarmanesh, H.


    We present an algorithm for multiclass semi-supervised learning, which is learning from a limited amount of labeled data and plenty of unlabeled data. Existing semi-supervised learning algorithms use approaches such as one-versus-all to convert the multiclass problem to several binary classification

  19. Supervision of Psychotherapy: Models, Issues, and Recommendations (United States)

    Westefeld, John S.


    Current models and issues related to psychotherapy supervision are examined. These include ethical and legal issues, problems of interpersonal competence, and multicultural issues. As a part of this analysis, interviews about supervision with five prominent counseling psychologists are included to provide their perspectives. Implications for the…

  20. 19 CFR 146.3 - Customs supervision. (United States)


    ... 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 Customs...

  1. How Does Supervision Support Inclusive Teacherhood? (United States)

    Alila, Sanna; Määttä, Kaarina; Uusiautti, Satu


    Supervision is a multidimensional concept and phenomenon. In this study, the advantages of supervision and its development in inclusive teacherhood was studied. Inclusive teacherhood means a teacher's professional development and the school culture's change toward participatory school for all students. The study analyzed the views of supervisors…

  2. 36 CFR 25.3 - Supervision; suspensions. (United States)


    ... 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 guide...

  3. 17 CFR 166.3 - Supervision. (United States)


    ... 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 supervisory...

  4. 32 CFR 552.65 - Command supervision. (United States)


    ... 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 by...

  5. Teacher Supervision Practices and Principals' Characteristics (United States)

    April, Daniel; Bouchamma, Yamina


    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…

  6. 27 CFR 24.30 - Supervision. (United States)


    ... 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 Supervision...

  7. 28 CFR 551.32 - Staff supervision. (United States)


    ... 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 the...

  8. 9 CFR 145.11 - Supervision. (United States)


    ... 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 the...

  9. 21 CFR 640.62 - Medical supervision. (United States)


    ... 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. A...

  10. Supportive supervision for medicines management in government ...

    African Journals Online (AJOL)

    Introduction: effective supportive supervision is widely recognized as essential for optimal management of medicines in government health facilities and also in contributing towards improved access and utilization of health services. This study sought to examine the extent supportive supervision for medicines management ...

  11. 9 CFR 146.10 - Supervision. (United States)


    ... 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 the...

  12. Skærpet bevidsthed om supervision

    DEFF Research Database (Denmark)

    Pedersen, Inge Nygaard


    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...

  13. Effective use of technology in clinical supervision

    Directory of Open Access Journals (Sweden)

    Priya Martin


    Full Text Available Clinical supervision is integral to continuing professional development of health professionals. With advances in technology, clinical supervision too can be undertaken using mediums such as videoconference, email and teleconference. This mode of clinical supervision is termed as telesupervision. While telesupervision could be useful in any context, its value is amplified for health professionals working in rural and remote areas where access to supervisors within the local work environment is often diminished. While telesupervision offers innovative means to undertake clinical supervision, there remain gaps in the literature in terms of its parameters of use in clinical practice. This article outlines ten evidence-informed, practical tips stemming from a review of the literature that will enable health care stakeholders to use technology effectively and efficiently while undertaking clinical supervision. By highlighting the “how to” aspect, telesupervision can be delivered in the right way, to the right health professional, at the right time.

  14. Nuclear safety culture and nuclear safety supervision

    International Nuclear Information System (INIS)

    Chai Jianshe


    In this paper, the author reviews systematically and summarizes up the development process and stage characteristics of nuclear safety culture, analysis the connotation and characteristics of nuclear safety culture, sums up the achievements of our country's nuclear safety supervision, dissects the challenges and problems of nuclear safety supervision. This thesis focused on the relationship between nuclear safety culture and nuclear safety supervision, they are essential differences, but there is a close relationship. Nuclear safety supervision needs to introduce some concepts of nuclear safety culture, lays emphasis on humanistic care and improves its level and efficiency. Nuclear safety supervision authorities must strengthen nuclear safety culture training, conduct the development of nuclear safety culture, make sure that nuclear safety culture can play significant roles. (author)

  15. Advancements in design of an autonomous satellite docking system (United States)

    Hays, Anthony B.; Tchoryk, Peter, Jr.; Pavlich, Jane C.; Ritter, Greg A.; Wassick, Gregory J.


    The past five years has witnessed a significant increase in the attention given to on-orbit satellite docking and servicing. Recent world events have proven how we have come to rely on our space assets, especially during times of crisis. It has become abundantly clear that the ability to autonomously rendezvous, dock, inspect and service both military and civilian assets is no longer a nicety, but a necessity. Reconnaissance and communications satellites, even the space shuttle and International Space Station, could benefit from this capability. Michigan Aerospace Corporation, with funding from the Defense Advanced Research Projects Agency (DARPA) and the Air Force Research Laboratory (AFRL), has been refining a compact, light, compliant soft-docking system. Earlier prototypes have been tested on the Marshall Space Flight Center (MSFC) flat-floor as well as on the Johnson Space Flight Center (JSC) KC-135 micro-gravity aircraft. Over the past year, refinements have been made to the mechanism based on the lessons learned from these tests. This paper discusses the optimal design that has resulted.

  16. From new vistas to life lines: psychologists' satisfaction with supervision and confidence in supervising. (United States)

    McMahon, Aisling; Errity, Darina


    This study aimed to provide the first detailed survey of Irish psychologists' supervision practices as well as to identify what is related to satisfaction with supervisory support and to confidence in providing supervision. An online survey was distributed nationwide to Irish psychologists. Participants were mostly clinical and counselling psychologists. Three-quarters of the participants constituted 51% of the total population of Irish health service psychologists, the remainder working in various non-health service settings. The results showed that most Irish psychologists attend supervision but at a low frequency, typically once monthly. One-third were dissatisfied with their supervision, greater satisfaction being related to having more frequent clinical supervision and having external individual clinical supervision. Having a safe and trustworthy relationship with supervisors was a dominant issue, and two-thirds of psychologists wanted separation of their clinical and line management supervision. Although 70% were supervisors, only 40% were confident in their supervisory skills and just 16% had formal supervisor training. Independent predictors of supervisory confidence were experience as a psychologist, having formal supervisor training, experience as a supervisor and confidence as a therapist. A novel finding was that longer experience of personal therapy was related to greater confidence as a supervisor. This study indicates the need for access to more frequent clinical supervision to be facilitated for psychologists and for there to be clear separation of line management and clinical supervision. It is also essential that more resources are put into training supervisors. While most psychologists are engaged in supervision, frequency of attendance is low, with more satisfied psychologists having more frequent supervision. Most psychologists want separation of their clinical and line management supervision and have a preference for external supervision, safe

  17. GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design (United States)

    Jankovic, Marko; Paul, Jan; Kirchner, Frank


    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.

  18. Evaluation of GPS position and attitude determination for automated rendezvous and docking missions. M.S. Thesis (United States)

    Diprinzio, Marc D.; Tolson, Robert H.


    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.

  19. Autonomic Neuropathy in Diabetes Mellitus


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


    Diabetic autonomic neuropathy (DAN) is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent ...

  20. Attitude Determination and Control System Design for a 6U Cube Sat for Proximity Operations and Rendezvous (United States)


    Rev . 8/98) PrescribM by ANSI Std Z39 18 Adobe Professional 7 .0 Attitude Determination and Control System Design for a 6U CubeSat for Proximity... Attitude Determination and Control System Design NIA for a 6U Cube Sat for Proximity Operations and Rendezvous 5b. GRANT NUMBER NIA 5c. PROGRAM ELEMENT... attitude determination and control subsystem (ADCS) (or a proximity operation and imaging satellite mission. The ARAP AI MA (Application for

  1. Providing effective supervision in clinical neuropsychology. (United States)

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


    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.

  2. Moments of real relationship in psychoanalytic supervision. (United States)

    Watkins, C Edward


    What role does the real relationship play in psychoanalytic supervision? While the real relationship's role has long been and continues to be considered with regard to psychoanalysis, it has received virtually no attention in the supervision literature. In this paper, using Horney's construct of the real self as conceptual anchor, I attempt to: (1) situate the real relationship squarely within the borders of the psychoanalytic supervision relationship; (2) examine the relevance of real relationship phenomena for the supervision experience; (3) provide some simple, ordinary yet meaningful examples of case dialogue that illustrate moments of real relationship in supervision; and (4) introduce the concept of real relationship rupture and consider its potential ramifications for and impact upon the supervisor-supervisee relationship. Just as ruptures can occur in the supervisory alliance, I propose that ruptures can also transpire in the supervisory real relationship, have the potential to reverberate throughout the entirety of the supervision experience, and depending upon how they are handled, can prove either constructive and relationally energizing and enlivening or enervating and eviscerating to supervision process and outcome.

  3. Autonomic Fuselet Specification and Composition

    National Research Council Canada - National Science Library

    Mills, Peter H


    A framework for autonomic fuselet business logic development was developed, using semantic web services and workflow technologies to specify fuselet information needs, to define an executable workflow...

  4. Robotics and Autonomous Systems Laboratory (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. 19 CFR 19.38 - Supervision of exportation. (United States)


    ... Supervision of exportation. (a) Sales ticket withdrawals. Conditionally duty-free merchandise withdrawn under the sales ticket procedure for exportation shall be exported only under Customs supervision as...

  6. Morally autonomous practice? (United States)

    Scott, P A


    The structures and contexts within which nurses work results in the moral agency and moral autonomy of the nurse being compromised. This claim results from a confusion of (1) the concept of autonomy with those of freedom and independence; and (2) a confusion of the notion of moral autonomy with that of autonomous professional practice. The drawing of appropriate distinctions allows clarification of the relevant concepts. It also underlines the responsibility of practitioners to recognize the moral dimension of their practice, and the moral implications of their actions, as they attempt to meet the health care needs of their patients and develop practice professionally.

  7. Optimistic semi-supervised least squares classification

    DEFF Research Database (Denmark)

    Krijthe, Jesse H.; Loog, Marco


    The goal of semi-supervised learning is to improve supervised classifiers by using additional unlabeled training examples. In this work we study a simple self-learning approach to semi-supervised learning applied to the least squares classifier. We show that a soft-label and a hard-label variant...... of self-learning can be derived by applying block coordinate descent to two related but slightly different objective functions. The resulting soft-label approach is related to an idea about dealing with missing data that dates back to the 1930s. We show that the soft-label variant typically outperforms...

  8. [Possibilities of supervision in medical practice]. (United States)

    Lönnqvist, Jouko


    In supervision, a doctor examines in interaction with the supervisor her/his work, work role and collaborative relationships with the aim to develop herself/himself and the associated work community. In clinical supervision, a doctor's way of acting in interactive relationships with the patients is examined through patient cases, based on the doctor's own experience. Supervision can be used to strengthen the physician identity, clarify the work role, assimilate and delve into clinical work, support professional development and working career, manage one's own work and coping at work, develop collaboration and team work, and support the work of medical directors.

  9. Comparing supervised and unsupervised category learning. (United States)

    Love, Bradley C


    Two unsupervised learning modes (incidental and intentional unsupervised learning) and their relation to supervised classification learning are examined. The approach allows for direct comparisons of unsupervised learning data with the Shepard, Hovland, and Jenkins (1961) seminal studies in supervised classification learning. Unlike supervised classification learning, unsupervised learning (especially under incidental conditions) favors linear category structures over compact nonlinear category structures. Unsupervised learning is shown to be multifaceted in that performance varies with task conditions. In comparison with incidental unsupervised learning, intentional unsupervised learning is more rule like, but is no more accurate. The acquisition and application of knowledge is also more laborious under intentional unsupervised learning.

  10. Autonomous Control of Space Nuclear Reactors (United States)

    Merk, John


    Nuclear reactors to support future robotic and manned missions impose new and innovative technological requirements for their control and protection instrumentation. Long-duration surface missions necessitate reliable autonomous operation, and manned missions impose added requirements for failsafe reactor protection. There is a need for an advanced instrumentation and control system for space-nuclear reactors that addresses both aspects of autonomous operation and safety. The Reactor Instrumentation and Control System (RICS) consists of two functionally independent systems: the Reactor Protection System (RPS) and the Supervision and Control System (SCS). Through these two systems, the RICS both supervises and controls a nuclear reactor during normal operational states, as well as monitors the operation of the reactor and, upon sensing a system anomaly, automatically takes the appropriate actions to prevent an unsafe or potentially unsafe condition from occurring. The RPS encompasses all electrical and mechanical devices and circuitry, from sensors to actuation device output terminals. The SCS contains a comprehensive data acquisition system to measure continuously different groups of variables consisting of primary measurement elements, transmitters, or conditioning modules. These reactor control variables can be categorized into two groups: those directly related to the behavior of the core (known as nuclear variables) and those related to secondary systems (known as process variables). Reliable closed-loop reactor control is achieved by processing the acquired variables and actuating the appropriate device drivers to maintain the reactor in a safe operating state. The SCS must prevent a deviation from the reactor nominal conditions by managing limitation functions in order to avoid RPS actions. The RICS has four identical redundancies that comply with physical separation, electrical isolation, and functional independence. This architecture complies with the

  11. Autonomic epileptic seizures, autonomic effects of seizures, and SUDEP. (United States)

    Moseley, Brian; Bateman, Lisa; Millichap, John J; Wirrell, Elaine; Panayiotopoulos, Chrysostomos P


    Many generalized tonic-clonic seizures are accompanied by profound autonomic changes. However, autonomic seizures and autonomic status epilepticus can also be seen with specific electroclinical syndromes (Panayiotopoulos syndrome), etiologies, and localizations. Such autonomic symptoms may impact cardiorespiratory function. While it is likely that several factors contribute to SUDEP, further study of both ictal respiratory and cardiac changes and underlying neuroanatomical mechanisms involved in autonomic seizure semiology are likely to provide important data to improve our understanding of the pathophysiology of this devastating condition. This paper will review the association between autonomic symptoms and epileptic seizures and will highlight the work of three young investigators. Drs. Lisa Bateman and Brian Moseley will review their work on cardiorespiratory effects of recorded seizures and how this assists in our understanding of SUDEP. Dr. John Millichap will review autonomic seizures and autonomic dysfunctions related to childhood epilepsy and will discuss the importance of expanded research efforts in this field. Copyright © 2012 Elsevier Inc. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    Yue You


    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.

  13. Microgravity experiments of nano-satellite docking mechanism for final rendezvous approach and docking phase (United States)

    Ui, Kyoichi; Matunaga, Saburo; Satori, Shin; Ishikawa, Tomohiro


    Laboratory for Space Systems (LSS), Tokyo Institute of Technology (Tokyo Tech) conducted three-dimensional microgravity environment experiments about a docking mechanism for mothership-daughtership (MS-DS) nano-satellite using the facility of Japan Micro Gravity Center (JAMIC) with Hokkaido Institute of Technology (HIT). LSS has studied and developed a docking mechanism for MS-DS nano-satellite system in final rendezvous approach and docking phase since 2000. Consideration of the docking mechanism is to mate a nano-satellite stably while remaining control error of relative velocity and attitude because it is difficult for nano-satellite to have complicated attitude control and mating systems. Objective of the experiments is to verify fundamental grasping function based on our proposed docking methodology. The proposed docking sequence is divided between approach/grasping phase and guiding phase. In the approach/grasping phase, the docking mechanism grasps the nano-satellite even though the nano-satellite has relative position and attitude control errors as well as relative velocity in a docking space. In the guiding function, the docking mechanism guides the nano-satellite to a docking port while adjusting its attitude in order to transfer electrical power and fuel to the nano-satellite. In the paper, we describe the experimental system including the docking mechanism, control system, the daughtership system and the release mechanism, and describe results of microgravity experiments in JAMIC.

  14. Inverse simulation system for manual-controlled rendezvous and docking based on artificial neural network (United States)

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


    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.

  15. The influence of spatial ability and experience on performance during spaceship rendezvous and docking. (United States)

    Du, Xiaoping; Zhang, Yijing; Tian, Yu; Huang, Weifen; Wu, Bin; Zhang, Jingyu


    Manual rendezvous and docking (manual RVD) is a challenging space task for astronauts. Previous research showed a correlation between spatial ability and manual RVD skills among participants at early stages of training, but paid less attention to experts. Therefore, this study tried to explore the role of spatial ability in manual RVD skills in two groups of trainees, one relatively inexperienced and the other experienced operators. Additionally, mental rotation has been proven essential in RVD and was tested in this study among 27 male participants, 15 novices, and 12 experts. The participants performed manual RVD tasks in a high fidelity simulator. Results showed that experience moderated the relation between mental rotation ability and manual RVD performance. On one hand, novices with high mental rotation ability tended to perform that RVD task more successfully; on the other hand, experts with high mental rotation ability showed not only no performance advantage in the final stage of the RVD task, but had certain disadvantages in their earlier processes. Both theoretical and practical implications were discussed.

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

    Directory of Open Access Journals (Sweden)

    Chung-Ming Own


    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.

  17. Navigation Strategies for Primitive Solar System Body Rendezvous and Proximity Operations (United States)

    Getzandanner, Kenneth M.


    A wealth of scientific knowledge regarding the composition and evolution of the solar system can be gained through reconnaissance missions to primitive solar system bodies. This paper presents analysis of a baseline navigation strategy designed to address the unique challenges of primitive body navigation. Linear covariance and Monte Carlo error analysis was performed on a baseline navigation strategy using simulated data from a· design reference mission (DRM). The objective of the DRM is to approach, rendezvous, and maintain a stable orbit about the near-Earth asteroid 4660 Nereus. The outlined navigation strategy and resulting analyses, however, are not necessarily limited to this specific target asteroid as they may he applicable to a diverse range of mission scenarios. The baseline navigation strategy included simulated data from Deep Space Network (DSN) radiometric tracking and optical image processing (OpNav). Results from the linear covariance and Monte Carlo analyses suggest the DRM navigation strategy is sufficient to approach and perform proximity operations in the vicinity of the target asteroid with meter-level accuracy.

  18. A new type of rendezvous: introduction of laparo-endoscopy in selected patients. (United States)

    Völgyi, Z; Fischer, T; Szenes, M; Tüske, G; Vattay, P; Gasztonyi, B


    The aim of this work is to demonstrate the introduction of laparo-endoscopy and to investigate the year-long experience with its use. In a subgroup of patients with cholecystolithiasis, concomitant lithiasis of the common bile duct may also be present. When the preoperative endoscopic cholangiopancreatography, performed as a result of a suspected choledocholithiasis, was unsuccessful, a "rendezvous" ERCP, laparo-endoscopy, is performed. After a survey of the international literature on the method, and a description of its technique, the authors give a review of the cases of their own 10 patients, which were all successful. These findings emphasise the advantages of the new method in a certain subgroup of patients over the conventional, sequential approach (preoperative ERCP followed by laparoscopic cholecystectomy), and also give technical hints obtained during their performance of the operations up to now. These results underline the importance of team work that involves the cooperation of a gastroenterologist, a surgeon and an anaesthesiologist in the indication, organisation and implementation of the intervention. © Georg Thieme Verlag KG Stuttgart · New York.

  19. Coherent Doppler lidar for automated space vehicle rendezvous, stationkeeping and capture (United States)

    Bilbro, James A.


    The inherent spatial resolution of laser radar makes ladar or lidar an attractive candidate for Automated Rendezvous and Capture application. Previous applications were based on incoherent lidar techniques, requiring retro-reflectors on the target vehicle. Technology improvements (reduced size, no cryogenic cooling requirement) have greatly enhanced the construction of coherent lidar systems. Coherent lidar permits the acquisition of non-cooperative targets at ranges that are limited by the detection capability rather than by the signal-to-noise ratio (SNR) requirements. The sensor can provide translational state information (range, velocity, and angle) by direct measurement and, when used with any array detector, also can provide attitude information by Doppler imaging techniques. Identification of the target is accomplished by scanning with a high pulse repetition frequency (dependent on the SNR). The system performance is independent of range and should not be constrained by sun angle. An initial effort to characterize a multi-element detection system has resulted in a system that is expected to work to a minimum range of 1 meter. The system size, weight and power requirements are dependent on the operating range; 10 km range requires a diameter of 3 centimeters with overall size at 3 x 3 x 15 to 30 cm, while 100 km range requires a 30 cm diameter.

  20. Basic targeting strategies for rendezvous and flyby missions to the near-Earth asteroids (United States)

    Perozzi, Ettore; Rossi, Alessandro; Valsecchi, Giovanni B.


    Missions to asteroids and comets are becoming increasingly feasible both from a technical and a financial point of view. In particular, those directed towards the Near-Earth Asteroids have proven suitable for a low-cost approach, thus attracting the major space agencies as well as private companies. The choice of a suitable target involves both scientific relevance and mission design considerations, being often a difficult task to accomplish due to the limited energy budget at disposal. The aim of this paper is to provide an approach to basic trajectory design which allows to account for both aspects of the problem, taking into account scientific and technical information. A global characterization of the Near-Earth Asteroids population carried out on the basis of their dynamics, physical properties and flight dynamics considerations, allows to identify a group of candidates which satisfy both, the scientific and engineering requirements. The feasibility of rendezvous and flyby missions towards them is then discussed and the possibility of repeated encounters with the same object is investigated, as an intermediate scenario. Within this framework, the capability of present and near future launch and propulsion systems for interplanetary missions is also addressed.

  1. Dynamical analysis of rendezvous and docking with very large space infrastructures in non-Keplerian orbits (United States)

    Colagrossi, Andrea; Lavagna, Michèle


    A space station in the vicinity of the Moon can be exploited as a gateway for future human and robotic exploration of the solar system. The natural location for a space system of this kind is about one of the Earth-Moon libration points. The study addresses the dynamics during rendezvous and docking operations with a very large space infrastructure in an EML2 Halo orbit. The model takes into account the coupling effects between the orbital and the attitude motion in a circular restricted three-body problem environment. The flexibility of the system is included, and the interaction between the modes of the structure and those related with the orbital motion is investigated. A lumped parameter technique is used to represents the flexible dynamics. The parameters of the space station are maintained as generic as possible, in a way to delineate a global scenario of the mission. However, the developed model can be tuned and updated according to the information that will be available in the future, when the whole system will be defined with a higher level of precision.

  2. Towards autonomous vehicular clouds

    Directory of Open Access Journals (Sweden)

    Stephan Olariu


    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.

  3. Autonomous Formation Flight (United States)

    Schkolnik, Gerard S.; Cobleigh, Brent


    NASA's Strategic Plan for the Aerospace Technology Enterprise includes ambitious objectives focused on affordable air travel, reduced emissions, and expanded aviation-system capacity. NASA Dryden Flight Research Center, in cooperation with NASA Ames Research Center, the Boeing Company, and the University of California, Los Angeles, has embarked on an autonomous-formation-flight project that promises to make significant strides towards these goals. For millions of years, birds have taken advantage of the aerodynamic benefit of flying in formation. The traditional "V" formation flown by many species of birds (including gulls, pelicans, and geese) enables each of the trailing birds to fly in the upwash flow field that exists just outboard of the bird immediately ahead in the formation. The result for each trailing bird is a decrease in induced drag and thus a reduction in the energy needed to maintain a given speed. Hence, for migratory birds, formation flight extends the range of the system of birds over the range of birds flying solo. The Autonomous Formation Flight (AFF) Project is seeking to extend this symbiotic relationship to aircraft.

  4. Self-supervised Traversability Assessment in Field Environments with Lidar and Camera

    DEFF Research Database (Denmark)

    Hansen, Mikkel Kragh; Underwood, James; Karstoft, Henrik

    , the visual classifier detects non-traversable image patches as outliers from a Gaussian Mixture Model that maintains the appearance of only traversable ground. Results Our method is evaluated using a diverse dataset of agricultural fields and orchards gathered with a perception research robot developed......Introduction The application of robotic automation within agriculture is increasing. There is a high demand for fully autonomous robots that are both efficient, reliable and affordable. In order to ensure safety, autonomous agricultural vehicles must perceive the environment and detect potential...... obstacles and threats across a variety of environmental conditions. In this paper, a self-supervised framework is proposed, combining laser range sensing from a lidar with images from a monocular camera to reliably assess terrain traversability/navigability. Methods The method uses a near-to-far approach...

  5. Social constructionism and supervision: experiences of AAMFT supervisors and supervised therapists. (United States)

    Hair, Heather J; Fine, Marshall


    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.

  6. Using a Mixed Model to Explore Evaluation Criteria for Bank Supervision: A Banking Supervision Law Perspective. (United States)

    Tsai, Sang-Bing; Chen, Kuan-Yu; Zhao, Hongrui; Wei, Yu-Min; Wang, Cheng-Kuang; Zheng, Yuxiang; Chang, Li-Chung; Wang, Jiangtao


    Financial supervision means that monetary authorities have the power to supervise and manage financial institutions according to laws. Monetary authorities have this power because of the requirements of improving financial services, protecting the rights of depositors, adapting to industrial development, ensuring financial fair trade, and maintaining stable financial order. To establish evaluation criteria for bank supervision in China, this study integrated fuzzy theory and the decision making trial and evaluation laboratory (DEMATEL) and proposes a fuzzy-DEMATEL model. First, fuzzy theory was applied to examine bank supervision criteria and analyze fuzzy semantics. Second, the fuzzy-DEMATEL model was used to calculate the degree to which financial supervision criteria mutually influenced one another and their causal relationship. Finally, an evaluation criteria model for evaluating bank and financial supervision was established.

  7. Reflective dialogue in clinical supervision: A pilot study involving collaborative review of supervision videos. (United States)

    Hill, Hamish R M; Crowe, Trevor P; Gonsalvez, Craig J


    To pilot an intervention involving reflective dialogue based on video recordings of clinical supervision. Fourteen participants (seven psychotherapists and their supervisors) completed a reflective practice protocol after viewing a video of their most recent supervision session, then shared their reflections in a second session. Thematic analysis of individual reflections and feedback resulted in the following dominant themes: (1) Increased discussion of supervisee anxiety and the tensions between autonomy and dependence; (2) intentions to alter supervisory roles and practice; (3) identification of and reflection on parallel process (defined as the dynamic transmission of relationship patterns between therapy and supervision); and (4) a range of perceived impacts including improvements in supervisory alliance. The results suggest that reflective dialogue based on supervision videos can play a useful role in psychotherapy supervision, including with relatively inexperienced supervisees. Suggestions are provided for the encouragement of ongoing reflective dialogue in routine supervision practice.

  8. Weakly supervised classification in high energy physics (United States)

    Dery, Lucio Mwinmaarong; Nachman, Benjamin; Rubbo, Francesco; Schwartzman, Ariel


    As machine learning algorithms become increasingly sophisticated to exploit subtle features of the data, they often become more dependent on simulations. This paper presents a new approach called weakly supervised classification in which class proportions are the only input into the machine learning algorithm. Using one of the most challenging binary classification tasks in high energy physics — quark versus gluon tagging — we show that weakly supervised classification can match the performance of fully supervised algorithms. Furthermore, by design, the new algorithm is insensitive to any mis-modeling of discriminating features in the data by the simulation. Weakly supervised classification is a general procedure that can be applied to a wide variety of learning problems to boost performance and robustness when detailed simulations are not reliable or not available.

  9. Weakly supervised object detection with posterior regularization


    Bilen, Hakan; Pedersoli, Marco; Tuytelaars, Tinne


    Bilen H., Pedersoli M., Tuytelaars T., ''Weakly supervised object detection with posterior regularization'', 25th British machine vision conference - BMVC 2014, 12 pp., September 1-5, 2014, Nottingham, UK.

  10. Establish Best Practices for Supervision of Instructors (United States)


    Additionally, effective supervisors facilitate cooperative and non- confrontational relationships among their supervisees (Ninomoya, 1988; Waters et al...for effective supervision included mentorship abilities, interpersonal skills, cultural understanding, and pedagogical skill, while being closed

  11. Overview of the Autonomic Nervous System (United States)

    ... process. Autonomic disorders may be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous ... with acetylcholine and placed on the legs and forearm. Then, the volume of sweat is measured to ...

  12. Behavioural domain knowledge transfer for autonomous agents

    CSIR Research Space (South Africa)

    Rosman, Benjamin S


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

  13. Autonomous Learner Model Resource Book (United States)

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


    "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…

  14. Statistical-Mechanical Analysis Connecting Supervised Learning and Semi-Supervised Learning (United States)

    Fujii, Takashi; Ito, Hidetaka; Miyoshi, Seiji


    The generalization performance of semi-supervised learning is analyzed in the framework of online learning using the statistical-mechanical method. We derive deterministically formed simultaneous differential equations that describe the dynamical behaviors of order parameters using the self-averaging property under the thermodynamic limit. By generalizing the number of labeled data, the derived theory connects supervised learning and semi-supervised learning.

  15. Nuclear safety legislation and supervision in China

    International Nuclear Information System (INIS)

    Zhang Shiguan


    The cause for the urgent need of nuclear safety legislation and supervision in China is firstly described, and then a brief introduction to the basic principle and guideline of nuclear safety is presented. Finally the elaboration on the establishment of nuclear safety regulatory system, the enactment of a series of regulations and safety guides, and the implementation of licencing, nuclear safety supervision and research for ensuring the safety of nuclear energy, since the founding of the National Nuclear Safety Administration, are introduced

  16. Supervision of young children with fall injuries. (United States)

    Castro, Yessenia; Powell, Elizabeth C; Sheehan, Karen M


    Specific information about the supervision of young children with injuries related to falls is limited. In this study, we describe the supervision and physical environment of falls resulting in medical care in the emergency department. We enrolled a convenience sample of 108 children younger than 7 years with fall injuries. The average age was 3 years, and 56% were male. Seventy-six (70%) were a fall from a height including 16 that involved stairs. Among caretakers in a nongroup setting (n = 95), most (61%) were supervising more than one child. The attention to the child was holding or playing with the child (13%), observing (45%), usually constantly, or listening for the child (19%); 9% reported no supervision at the time of the fall. Thirty-two percent stated they were touching or within reach of the child. Of falls indoors (n = 56), the supervisor was in the same room as the child for more than half of cases. There was no association between the number of children supervised and fall type (height vs. same level). When compared with those with same level falls, children with falls from a height were more often supervised with listening or no supervision (vs. observation, holding, or playing with the child) χ², p = 0.004. Many children were supervised at the time of their fall. Most caretakers had visual contact, and up to a third were touching or within reach of the child. The strategies used in these apparently low-risk situations were insufficient to prevent the falls we report.

  17. Receiving group clinical supervision: a phenomenological study. (United States)

    Taylor, Claire

    This study examined the process of group supervision as experienced by one team of biofeedback therapists working in the south of England. A phenomenological study was undertaken to examine the team's perceptions of attending group supervision over time. Ten one-to-one in-depth interviews were conducted, six of which were with biofeedback therapists currently receiving supervision, three with nurses who used to receive this supervision and one interview with the supervisor. A four-stage model detailing how supervisees' experiences changed as a consequence of continued group supervision was developed. Study data revealed how this process allowed the biofeedback therapists to examine their clinical interventions and align their approach and perspective alongside other team members. This was a valuable and safe way of learning 'on the job' for the newer members of the team. The opportunity for free-thinking and reflection on practice supported clinical decision-making and therapeutic nursing. The more experienced supervisees demonstrated how their continued attendance of the group supervision sessions not only confirmed their expertise in role, but also facilitated their colleagues' development, which enhanced role satisfaction. The data also indicated some of the essential supervisory features of this process.

  18. On psychoanalytic supervision as signature pedagogy. (United States)

    Watkins, C Edward


    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.

  19. Semi-supervised bilinear subspace learning. (United States)

    Xu, Dong; Yan, Shuicheng


    Recent research has demonstrated the success of tensor based subspace learning in both unsupervised and supervised configurations (e.g., 2-D PCA, 2-D LDA, and DATER). In this correspondence, we present a new semi-supervised subspace learning algorithm by integrating the tensor representation and the complementary information conveyed by unlabeled data. Conventional semi-supervised algorithms mostly impose a regularization term based on the data representation in the original feature space. Instead, we utilize graph Laplacian regularization based on the low-dimensional feature space. An iterative algorithm, referred to as adaptive regularization based semi-supervised discriminant analysis with tensor representation (ARSDA/T), is also developed to compute the solution. In addition to handling tensor data, a vector-based variant (ARSDA/V) is also presented, in which the tensor data are converted into vectors before subspace learning. Comprehensive experiments on the CMU PIE and YALE-B databases demonstrate that ARSDA/T brings significant improvement in face recognition accuracy over both conventional supervised and semi-supervised subspace learning algorithms.

  20. Managing difficulties in supervision: supervisors' perspectives. (United States)

    Grant, Jan; Schofield, Margot J; Crawford, Sarah


    Few studies have examined the practice wisdom of expert supervisors. This study addresses this gap by exploring how experienced supervisors manage difficulties in supervision in the context of the supervisory relationship. The supervisors were a purposive sample of 16 senior members of the profession with considerable expertise in supervision. In-depth interviews were first conducted with the supervisors. An interpersonal process recall method was then used to explore their reflections on one of their DVD-recorded supervision sessions. Analysis of transcripts was completed using a modified consensual qualitative research method. Major difficulties included the broad domains of supervisee competence and ethical behavior, supervisee characteristics, supervisor countertransference, and problems in the supervisory relationship. Supervisors managed these difficulties using 4 key approaches: relational (naming, validating, attuning, supporting, anticipating, exploring parallel process, acknowledging mistakes, and modeling); reflective (facilitating reflectivity, remaining mindful and monitoring, remaining patient and transparent, processing countertransference, seeking supervision, and case conceptualizing); confrontative (confronting tentatively, confronting directly, refusing/terminating supervision, taking formal action, referring to personal therapy, and becoming directive); and avoidant interventions (struggling on, withholding, and withdrawing). Two brief case studies illustrate the process of applying these strategies sequentially in managing difficulties. The study highlights the importance of relational strategies to maintain an effective supervisory alliance, reflective strategies-particularly when difficulties pertain to clinical material and the supervisory relationship-and confrontative strategies with unhelpful supervisee characteristics and behaviors that impede supervision. (c) 2012 APA, all rights reserved.

  1. Lost in the crucible of supportive clinical supervision: supervision is not therapy. (United States)

    Yegdich, T


    Clinical supervision as a mechanism that supports both professional and personal development is a concept that has captured the imagination of nurses. Though nurses generally agree that 'supervision is not therapy', a clear distinction cannot be enunciated between these two processes when both aim at personal growth. In combining personal and professional growth, the rationale for clinical supervision is unnecessarily confused, with the unfortunate result that supervision may, unwittingly, become a form of therapy for nurses. This paper examines a model of supportive clinical supervision qua Chambers and Long's example of a facilitative therapeutic supervisory style, that reflects nurses' conceptualization of clinical supervision as enhancing personal and professional growth. However, it could be argued that this stance is in crucial respects incorrect, and needs to be rethought if clinical supervision is to be established as credible in nursing. Subsequently, it is important to remember that the utilization of certain techniques rather than their stated goals, will dictate the form that supervision, or therapy, will take. The purpose of this paper is to demonstrate the logical unacceptability in combining two processes as one, while developing a conceptual framework that differentiates supervision from therapy.

  2. Supervised, semi-supervised and unsupervised inference of gene regulatory networks. (United States)

    Maetschke, Stefan R; Madhamshettiwar, Piyush B; Davis, Melissa J; Ragan, Mark A


    Inference of gene regulatory network from expression data is a challenging task. Many methods have been developed to this purpose but a comprehensive evaluation that covers unsupervised, semi-supervised and supervised methods, and provides guidelines for their practical application, is lacking. We performed an extensive evaluation of inference methods on simulated and experimental expression data. The results reveal low prediction accuracies for unsupervised techniques with the notable exception of the Z-SCORE method on knockout data. In all other cases, the supervised approach achieved the highest accuracies and even in a semi-supervised setting with small numbers of only positive samples, outperformed the unsupervised techniques.

  3. Research Institute for Autonomous Precision Guided Systems

    National Research Council Canada - National Science Library

    Rogacki, John R


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

  4. Evolutionary Autonomous Health Monitoring System (EAHMS) Project (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...

  5. Autonomous Martian flying rover (United States)


    A remotely programmable, autonomous flying rover is proposed to extensively survey the Martian surface environment. A Mach .3, solar powered, modified flying wing could cover roughly a 2000 mile range during Martian daylight hours. Multiple craft launched from an orbiting mother ship could provide near-global coverage. Each craft is envisioned to fly at about 1 km above the surface and measure atmospheric composition, pressure and temperature, map surface topography, and remotely penetrate the near subsurface looking for water (ice) and perhaps evidence of life. Data collected are relayed to Earth via the orbiting mother ship. Near surface guidance and control capability is an adaptation of current cruise missile technology. A solar powered aircraft designed to fly in the low temperature, low density, carbon dioxide Martian atmosphere near the surface appears feasible.

  6. Autonomous component carrier selection

    DEFF Research Database (Denmark)

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


    management and efficient system operation. Due to the expected large number of user-deployed cells, centralized network planning becomes unpractical and new scalable alternatives must be sought. In this article, we propose a fully distributed and scalable solution to the interference management problem......Low-power base stations such as e.g. Femto-cells are one of the candidates for high data rate provisioning in local areas, such as residences, apartment complexes, business offices and outdoor hotspot scenarios. Unfortunately, the benefits are not without new challenges in terms of interference...... 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...

  7. Opportunities to Learn Scientific Thinking in Joint Doctoral Supervision (United States)

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


    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…

  8. 48 CFR 52.247-12 - Supervision, Labor, or Materials. (United States)


    ... 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, or...

  9. 20 CFR 702.407 - Supervision of medical care. (United States)


    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Supervision of medical care. 702.407 Section... and Supervision § 702.407 Supervision of medical care. The Director, OWCP, through the district... the Act. Such supervision shall include: (a) The requirement that periodic reports on the medical care...

  10. 9 CFR 355.31 - Supervision by inspector. (United States)


    ... 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 an...

  11. 10 CFR 34.46 - Supervision of radiographers' assistants. (United States)


    ... 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 radiographer's...

  12. 28 CFR 810.1 - Supervision contact requirements. (United States)


    ... 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 you...

  13. Autonomous Multicamera Tracking on Embedded Smart Cameras

    Directory of Open Access Journals (Sweden)

    Bischof Horst


    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.

  14. Interactive animated displayed of man-controlled and autonomous robots

    International Nuclear Information System (INIS)

    Crane, C.D. III; Duffy, J.


    An interactive computer graphics program has been developed which allows an operator to more readily control robot motions in two distinct modes; viz., man-controlled and autonomous. In man-controlled mode, the robot is guided by a joystick or similar device. As the robot moves, actual joint angle information is measured and supplied to a graphics system which accurately duplicates the robot motion. Obstacles are placed in the actual and animated workspace and the operator is warned of imminent collisions by sight and sound via the graphics system. Operation of the system in man-controlled mode is shown. In autonomous mode, a collision-free path between specified points is obtained by previewing robot motions on the graphics system. Once a satisfactory path is selected, the path characteristics are transmitted to the actual robot and the motion is executed. The telepresence system developed at the University of Florida has been successful in demonstrating that the concept of controlling a robot manipulator with the aid of an interactive computer graphics system is feasible and practical. The clarity of images coupled with real-time interaction and real-time determination of imminent collision with obstacles has resulted in improved operator performance. Furthermore, the ability for an operator to preview and supervise autonomous operations is a significant attribute when operating in a hazardous environment

  15. 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


    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

  16. Coherent Doppler lidar for automated space vehicle, rendezvous, station-keeping and capture (United States)

    Dunkin, James A.


    Recent advances in eye-safe, short wavelength solid-state lasers offer real potential for the development of compact, reliable, light-weight, efficient coherent lidar. Laser diode pumping of these devices has been demonstrated, thereby eliminating the need for flash lamp pumping, which has been a major drawback to the use of these lasers in space based applications. Also these lasers now have the frequency stability required to make them useful in coherent lidar, which offers all of the advantages of non-coherent lidar, but with the additional advantage that direct determination of target velocity is possible by measurement of the Doppler shift. By combining the Doppler velocity measurement capability with the inherent high angular resolution and range accuracy of lidar it is possible to construct Doppler images of targets for target motion assessment. A coherent lidar based on a Tm,Ho:YAG 2-micrometer wavelength laser was constructed and successfully field tested on atmospheric targets in 1990. This lidar incorporated an all solid state (laser diode pumped) master oscillator, in conjunction with a flash lamp pumped slave oscillator. Solid-state laser technology is rapidly advancing, and with the advent of high efficiency, high power, semiconductor laser diodes as pump sources, all-solid-state, coherent lidars are a real possibility in the near future. MSFC currently has a feasibility demonstration effort under way which will involve component testing, and preliminary design of an all-solid-state, coherent lidar for automatic rendezvous, and capture. This two year effort, funded by the Director's Discretionary Fund is due for completion in 1992.

  17. Proximity Operations for Space Situational Awareness Spacecraft Rendezvous and Maneuvering using Numerical Simulations and Fuzzy Logic (United States)

    Carrico, T.; Langster, T.; Carrico, J.; Alfano, S.; Loucks, M.; Vallado, D.

    The authors present several spacecraft rendezvous and close proximity maneuvering techniques modeled with a high-precision numerical integrator using full force models and closed loop control with a Fuzzy Logic intelligent controller to command the engines. The authors document and compare the maneuvers, fuel use, and other parameters. This paper presents an innovative application of an existing capability to design, simulate and analyze proximity maneuvers; already in use for operational satellites performing other maneuvers. The system has been extended to demonstrate the capability to develop closed loop control laws to maneuver spacecraft in close proximity to another, including stand-off, docking, lunar landing and other operations applicable to space situational awareness, space based surveillance, and operational satellite modeling. The fully integrated end-to-end trajectory ephemerides are available from the authors in electronic ASCII text by request. The benefits of this system include: A realistic physics-based simulation for the development and validation of control laws A collaborative engineering environment for the design, development and tuning of spacecraft law parameters, sizing actuators (i.e., rocket engines), and sensor suite selection. An accurate simulation and visualization to communicate the complexity, criticality, and risk of spacecraft operations. A precise mathematical environment for research and development of future spacecraft maneuvering engineering tasks, operational planning and forensic analysis. A closed loop, knowledge-based control example for proximity operations. This proximity operations modeling and simulation environment will provide a valuable adjunct to programs in military space control, space situational awareness and civil space exploration engineering and decision making processes.

  18. Coherent Doppler lidar for automated space vehicle, rendezvous, station-keeping and capture (United States)

    Dunkin, James A.

    Recent advances in eye-safe, short wavelength solid-state lasers offer real potential for the development of compact, reliable, light-weight, efficient coherent lidar. Laser diode pumping of these devices has been demonstrated, thereby eliminating the need for flash lamp pumping, which has been a major drawback to the use of these lasers in space based applications. Also these lasers now have the frequency stability required to make them useful in coherent lidar, which offers all of the advantages of non-coherent lidar, but with the additional advantage that direct determination of target velocity is possible by measurement of the Doppler shift. By combining the Doppler velocity measurement capability with the inherent high angular resolution and range accuracy of lidar it is possible to construct Doppler images of targets for target motion assessment. A coherent lidar based on a Tm,Ho:YAG 2-micrometer wavelength laser was constructed and successfully field tested on atmospheric targets in 1990. This lidar incorporated an all solid state (laser diode pumped) master oscillator, in conjunction with a flash lamp pumped slave oscillator. Solid-state laser technology is rapidly advancing, and with the advent of high efficiency, high power, semiconductor laser diodes as pump sources, all-solid-state, coherent lidars are a real possibility in the near future. MSFC currently has a feasibility demonstration effort under way which will involve component testing, and preliminary design of an all-solid-state, coherent lidar for automatic rendezvous, and capture. This two year effort, funded by the Director's Discretionary Fund is due for completion in 1992.

  19. Comparison of transhepatic and extrahepatic routes for EUS-guided rendezvous procedure for distal CBD obstruction. (United States)

    Dhir, Vinay; Bhandari, Suryaprakash; Bapat, Mukta; Joshi, Nitin; Vivekanandarajah, Suhirdan; Maydeo, Amit


    EUS-guided rendezvous procedure (EUS-RV) can be done by the transhepatic (TH) or the extrahepatic (EH) route. There is no data on the preferred access route when both routes are available. To compare the success, complications, and duration of hospitalization for patients undergoing EUS-RV by the TH or the EH route. Patients with distal common bile duct (CBD) obstruction, who failed selective cannulation, underwent EUS-RV by the TH route through the stomach or the EH route through the duodenum. A total of 35 patients were analysed (17 TH, 18 EH). The mean procedure time was significantly longer for the TH group (34.4 vs. 25.7 min; p = 0.0004). There was no difference in the technical success (94.1 vs. 100%). However, the TH group had a higher incidence of post-procedure pain (44.1 vs. 5.5%; p = 0.017), bile leak (11.7 vs. 0; p = 0.228), and air under diaphragm (11.7 vs. 0; p = 0.228). All bile leaks were small and managed conservatively. Duration of hospitalization was significantly higher for the TH group (2.52 vs. 0.17 days; p = 0.015). EUS-RV has similar success rate by the TH or the EH route. However, the TH route has higher post-procedure pain, longer procedure time, and longer duration of hospitalization. The EH route should be preferred for EUS-RV in patients with distal CBD obstruction when both access routes are technically feasible.

  20. A model for dealing with parallel processes in supervision


    Lilja Cajvert


    A model for dealing with parallel processes in supervision Supervision in social work is essential for successful outcomes when working with clients. In social work, unconscious difficulties may arise and similar difficulties may occur in supervision as parallel processes. In this article, the development of a practice-based model of supervision to deal with parallel processes in supervision is described. The model has six phases. In the first phase, the focus is on the supervisor’s inner ...

  1. Multicultural supervision: lessons learned about an ongoing struggle. (United States)

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


    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. © 2011 American Association for Marriage and Family Therapy.

  2. Classroom Supervision and Informal Analysis of Behavior. A Manual for Supervision. (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…

  3. Group Supervision in Graduate Education: A Process of Supervision Skill Development and Text Improvement (United States)

    Samara, Akylina


    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…

  4. Ensemble learning with trees and rules: supervised, semi-supervised, unsupervised (United States)

    In this article, we propose several new approaches for post processing a large ensemble of conjunctive rules for supervised and semi-supervised learning problems. We show with various examples that for high dimensional regression problems the models constructed by the post processing the rules with ...

  5. Cybersecurity for aerospace autonomous systems (United States)

    Straub, Jeremy


    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.

  6. Automatic learning rate adjustment for self-supervising autonomous robot control (United States)

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


    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.

  7. Minimal supervision out-patient clinical teaching. (United States)

    Figueiró-Filho, Ernesto Antonio; Amaral, Eliana; McKinley, Danette; Bezuidenhout, Juanita; Tekian, Ara


    Minimal faculty member supervision of students refers to a method of instruction in which the patient-student encounter is not directly supervised by a faculty member, and presents a feasible solution in clinical teaching. It is unclear, however, how such practices are perceived by patients and how they affect student learning. We aimed to assess patient and medical student perceptions of clinical teaching with minimal faculty member supervision. Questionnaires focusing on the perception of students' performance were administered to patients pre- and post-consultation. Students' self-perceptions on their performance were obtained using a questionnaire at the end of the consultation. Before encounters with students, 22 per cent of the 95 patients were not sure if they would feel comfortable or trust the students; after the consultation, almost all felt comfortable (97%) and relied on the students (99%). The 81 students surveyed agreed that instruction with minimal faculty member supervision encouraged their participation and engagement (86%). They expressed interest in knowing patients' opinions about their performance (94%), and they felt comfortable about being assessed by the patients (86%). The minimal faculty member supervision model was well accepted by patients. Responses from the final-year students support the use of assessments that incorporate feedback from patients in their overall clinical evaluations. © 2014 John Wiley & Sons Ltd.

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

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


    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.

  9. Cranial Autonomic Symptoms in Migraine

    Directory of Open Access Journals (Sweden)

    J Gordon Millichap


    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.

  10. Catecholamines and diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J


    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...

  11. Semi-supervised Learning for Phenotyping Tasks. (United States)

    Dligach, Dmitriy; Miller, Timothy; Savova, Guergana K


    Supervised learning is the dominant approach to automatic electronic health records-based phenotyping, but it is expensive due to the cost of manual chart review. Semi-supervised learning takes advantage of both scarce labeled and plentiful unlabeled data. In this work, we study a family of semi-supervised learning algorithms based on Expectation Maximization (EM) in the context of several phenotyping tasks. We first experiment with the basic EM algorithm. When the modeling assumptions are violated, basic EM leads to inaccurate parameter estimation. Augmented EM attenuates this shortcoming by introducing a weighting factor that downweights the unlabeled data. Cross-validation does not always lead to the best setting of the weighting factor and other heuristic methods may be preferred. We show that accurate phenotyping models can be trained with only a few hundred labeled (and a large number of unlabeled) examples, potentially providing substantial savings in the amount of the required manual chart review.

  12. Re-thinking reflection in supervision

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    suggested that professional practitioners and students could and should develop their work and skills by thinking critically about their actions. However, over the last twenty years, the ideas about reflective practice – what it means and how it is done – have moved away form their radical roots. The idea......The paper presents a socio-cultural perspective on supervision in professional education, which challenges the current reflective paradigm and move the debate on reflection in supervision in professional education and learning towards a recognition of context, power dynamics and ideological...... challenge. Reflection has moved from the margins to the mainstream in the field of supervision, especially as this is conceptualized and operationalized in professional education. In the 1980s, ideas about the importance of reflection in professional practice, and especially in professional education...


    International Nuclear Information System (INIS)

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


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

  14. Is paramecium swimming autonomic? (United States)

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


    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.

  15. Autonomous Energy Grids: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Kroposki, Benjamin D [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Dall-Anese, Emiliano [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Bernstein, Andrey [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Zhang, Yingchen [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Hodge, Brian S [National Renewable Energy Laboratory (NREL), Golden, CO (United States)


    With much higher levels of distributed energy resources - variable generation, energy storage, and controllable loads just to mention a few - being deployed into power systems, the data deluge from pervasive metering of energy grids, and the shaping of multi-level ancillary-service markets, current frameworks to monitoring, controlling, and optimizing large-scale energy systems are becoming increasingly inadequate. This position paper outlines the concept of 'Autonomous Energy Grids' (AEGs) - systems that are supported by a scalable, reconfigurable, and self-organizing information and control infrastructure, can be extremely secure and resilient (self-healing), and self-optimize themselves in real-time for economic and reliable performance while systematically integrating energy in all forms. AEGs rely on scalable, self-configuring cellular building blocks that ensure that each 'cell' can self-optimize when isolated from a larger grid as well as partaking in the optimal operation of a larger grid when interconnected. To realize this vision, this paper describes the concepts and key research directions in the broad domains of optimization theory, control theory, big-data analytics, and complex system modeling that will be necessary to realize the AEG vision.

  16. [Autonomic peripheral neuropathy]. (United States)

    Adams, David; Cauquil, Cecile; Lozeron, Pierre


    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. Copyright © 2012. Published by Elsevier Masson SAS.


    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: [University of Tasmania, School of Maths and Physics, Private Bag 37, Hobart, TAS 7001 (Australia)


    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.

  18. Guidelines for clinical supervision in health service psychology. (United States)


    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.

  19. Autonomous power system: Integrated scheduling (United States)

    Ringer, Mark J.


    The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control and scheduling techniques to space power distribution hardware. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis, isolation, and recovery (FDIR), the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space-based power system. Faults can be introduced into the Brassboard and in turn, be diagnosed and corrected by APEX and AIPS. The Autonomous Intelligent Power Scheduler controls the execution of loads attached to the Brassboard. Each load must be executed in a manner that efficiently utilizes available power and satisfies all load, resource, and temporal constraints. In the case of a fault situation on the Brassboard, AIPS dynamically modifies the existing schedule in order to resume efficient operation conditions. A database is kept of the power demand, temporal modifiers, priority of each load, and the power level of each source. AIPS uses a set of heuristic rules to assign start times and resources to each load based on load and resource constraints. A simple improvement engine based upon these heuristics is also available to improve the schedule efficiency. This paper describes the operation of the Autonomous Intelligent Power Scheduler as a single entity, as well as its integration with APEX and the Brassboard. Future plans are discussed for the growth of the Autonomous Intelligent Power Scheduler.

  20. A Sampling Based Approach to Spacecraft Autonomous Maneuvering with Safety Specifications (United States)

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


    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.

  1. EEM{sup TM} wireless supervision

    Energy Technology Data Exchange (ETDEWEB)

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


    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.)

  2. Autonomous Byte Stream Randomizer (United States)

    Paloulian, George K.; Woo, Simon S.; Chow, Edward T.


    Net-centric networking environments are often faced with limited resources and must utilize bandwidth as efficiently as possible. In networking environments that span wide areas, the data transmission has to be efficient without any redundant or exuberant metadata. The Autonomous Byte Stream Randomizer software provides an extra level of security on top of existing data encryption methods. Randomizing the data s byte stream adds an extra layer to existing data protection methods, thus making it harder for an attacker to decrypt protected data. Based on a generated crypto-graphically secure random seed, a random sequence of numbers is used to intelligently and efficiently swap the organization of bytes in data using the unbiased and memory-efficient in-place Fisher-Yates shuffle method. Swapping bytes and reorganizing the crucial structure of the byte data renders the data file unreadable and leaves the data in a deconstructed state. This deconstruction adds an extra level of security requiring the byte stream to be reconstructed with the random seed in order to be readable. Once the data byte stream has been randomized, the software enables the data to be distributed to N nodes in an environment. Each piece of the data in randomized and distributed form is a separate entity unreadable on its own right, but when combined with all N pieces, is able to be reconstructed back to one. Reconstruction requires possession of the key used for randomizing the bytes, leading to the generation of the same cryptographically secure random sequence of numbers used to randomize the data. This software is a cornerstone capability possessing the ability to generate the same cryptographically secure sequence on different machines and time intervals, thus allowing this software to be used more heavily in net-centric environments where data transfer bandwidth is limited.

  3. 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


    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.

  4. Guidance Algorithms for Non-Drifting Trajectory Generation and Control in RendezVous Missions into Elliptical Orbits (United States)

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


    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.

  5. Visual Odometry for Autonomous Deep-Space Navigation Project (United States)

    Robinson, Shane; Pedrotty, Sam


    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. Imaging Flash Lidar for Autonomous Safe Landing and Spacecraft Proximity Operation (United States)

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


    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.

  7. Compact autonomous navigation system (CANS) (United States)

    Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.


    Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

  8. multiscale smoothing in supervised statistical learning

    Indian Academy of Sciences (India)

    LIGO. Examples of supervised learning. Diabetes data : Measurements are taken on fasting plasma glucose level, steady state plasma glucose level, glucose area, insulin area and relative weight from chemical diabetic patients, overt diabetic patients and normal people. Vowel recognition data: A number of speakers spoke.

  9. Clinical Supervision for Licensure: A Consumer's Guide. (United States)

    Magnuson, Sandy; Norem, Ken; Wilcoxon, S. Allen


    Graduates of counselor education programs simultaneously receive their diplomas and the challenge of obtaining requisite supervised experience in order to be licensed, certified, or registered. This article features recommendations to assist counselors-in-training and entry-level, prelicensed counselors in (a) planning for postgraduate supervision…

  10. Performance Monitoring Applied to System Supervision

    Directory of Open Access Journals (Sweden)

    Bertille Somon


    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.

  11. Cognitive Dissonance, Supervision, and Administrative Team Conflict (United States)

    Zepeda, Sally J.


    Purpose: The purpose of this paper is to record and summarize the tensions and problems experienced by a high school administrative team as they attempted to change supervision alongside instruction in a transition to a new block schedule. Design/methodology/approach: A case study method was used. As a case study, the research is contextual in…

  12. Experiences of Supervision at Practice Placement Sites

    Directory of Open Access Journals (Sweden)

    Lesley Diack


    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.

  13. The Integrated Developmental Model of Supervision. (United States)

    Stoltenberg, Cal D.

    The Integrated Developmental Model (IDM) of supervision builds upon previous models of counselor and psychotherapist development. The IDM incorporates aspects of both a mechanistic view, using the machine as metaphor, and an organismic view, using the organism as metaphor, of development in describing trainee development through three levels and…

  14. 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. Supervision which is a component of education administration is equally fundamental if the goals of the system will be realized. This paper therefore examines the twin concepts of school management and ...

  15. Postgraduate supervision and academic support: students ...

    African Journals Online (AJOL)

    Among others, quality is determined by the extent to which students' expectations are met. Data about students' perceptions of supervision provides important information about their expectations and if these are satisfied. Survey research was employed to determine distance education students' perceptions of their ...

  16. Magazine Picture Collage in Group Supervision (United States)

    Shepard, Blythe C.; Guenette, Francis L.


    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…

  17. Guidelines for enhancing clinical supervision: research ...

    African Journals Online (AJOL)

    ... toesighouding behels, maar dat hulle nie die noodsaaklikheid om reflektiewe leer toe te pas tydens die proses van kliniese toesighouding aangedui het nie. Keywords: Clinical supervision, Reflective thinking and learning, Support, Guidance (Health SA Gesondheid: interdisciplinary research journal: 2003 8(4): 12-23) ...

  18. Research Supervision: The Research Management Matrix (United States)

    Maxwell, T. W.; Smyth, Robyn


    We briefly make a case for re-conceptualising research project supervision/advising as the consideration of three inter-related areas: the learning and teaching process; developing the student; and producing the research project/outcome as a social practice. We use this as our theoretical base for an heuristic tool, "the research management…

  19. The Spiritual Genogram in Training and Supervision. (United States)

    Frame, Marsha Wiggins


    Describes the spiritual genogram, a blueprint of family members' multigenerational religious and spiritual affiliations, events, and conflicts. Used as a tool in both training and supervision, the spiritual genogram enables students and supervisees to make sense of their own religious and spiritual heritage and to explore the ways in which their…

  20. 19 CFR 19.34 - Customs supervision. (United States)


    ... 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 of...

  1. Spirituality and School Counselor Education and Supervision (United States)

    Gallo, Laura L.


    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…

  2. Keys to Successful Community Health Worker Supervision (United States)

    Duthie, Patricia; Hahn, Janet S.; Philippi, Evelyn; Sanchez, Celeste


    For many years community health workers (CHW) have been important to the implementation of many of our health system's community health interventions. Through this experience, we have recognized some unique challenges in community health worker supervision and have highlighted what we have learned in order to help other organizations effectively…

  3. Theory of Multiple Intelligences at Teacher Supervision

    Directory of Open Access Journals (Sweden)

    İzzet Döş


    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.

  4. Remote Video Supervision in Adapted Physical Education (United States)

    Kelly, Luke; Bishop, Jason


    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…

  5. Supporting Placement Supervision in Clinical Exercise Physiology (United States)

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


    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…

  6. A Self-Management Model for Supervision. (United States)

    Keller, James F.; Protinsky, Howard


    Presents a management-of-self model of supervision for graduate training in marriage and family therapy. Suggests that as the supervisee comes to understand how family of origin and family constellation patterns are reenacted within the therapeutic context, he/she can then interrupt those patterns of interaction that inhibit effectiveness. (JAC)

  7. multiscale smoothing in supervised statistical learning

    Indian Academy of Sciences (India)

    Examples of supervised learning. Diabetes data : Measurements are taken on fasting plasma glucose ... and uses the training data to estimate its parameters. Linear Discriminant Analysis (LDA). Quadratic Discriminant Analysis ... Standard methods for smoothing parameter selection. Maximization of the likelihood function ( ...

  8. Guidelines for enhancing clinical supervision: research ...

    African Journals Online (AJOL)

    A qualitative, exploratory and descriptive research design was utilised where results from narrative sketches and literature control served as the basis for deducting and describing guidelines for enhancing reflection during the process of supervision. The conclusions drawn from the related findings are that the respondents ...

  9. Dimensions of Satisfaction in the Supervision Interview. (United States)

    Holloway, Elizabeth L.; Wampold, Bruce E.

    While supervisory research focuses on trainee performance in counseling situations as the primary outcome criterion, few instruments have been developed for evaluating behavior in the supervision interview. To develop a scale that reflects critical factors in the supervisory relationship, the Supervisor Personal Reaction Scale (SPRS) and the…

  10. Direct Supervision in Outpatient Psychiatric Graduate Medical Education. (United States)

    Galanter, Cathryn A; Nikolov, Roumen; Green, Norma; Naidoo, Shivana; Myers, Michael F; Merlino, Joseph P


    The authors describe a stimulus case that led training staff to examine and revise the supervision policy of the adult and child and adolescent psychiatry clinics. To inform the revisions, the authors reviewed the literature and national policies. The authors conducted a literature review in PubMed using the following criteria: Supervision, Residents, Training, Direct, and Indirect and a supplemental review in Academic Psychiatry. The authors reviewed institutional and Accreditation Council for Graduate Medical Education resident and fellow supervision policies to develop an outpatient and fellow supervision policy. Research is limited in psychiatry with three experimental articles demonstrating positive impact of direct supervision and several suggesting different techniques for direct supervision. In other areas of medicine, direct supervision is associated with improved educational and patient outcomes. The authors present details of our new supervision policy including triggers for direct supervision. The term direct supervision is relatively new in psychiatry and medical education. There is little published on the extent of implementation of direct supervision and on its impact on the educational experience of psychiatry trainees and other medical specialties. Direct supervision has been associated with improved educational and patient outcomes in nonpsychiatric fields of medicine. More research is needed on the implementation of, indications for, and effects of direct supervision on trainee education and on patient outcomes.

  11. Supervised, Unsupervised, and Semi-Supervised Feature Selection: A Review on Gene Selection. (United States)

    Ang, Jun Chin; Mirzal, Andri; Haron, Habibollah; Hamed, Haza Nuzly Abdull


    Recently, feature selection and dimensionality reduction have become fundamental tools for many data mining tasks, especially for processing high-dimensional data such as gene expression microarray data. Gene expression microarray data comprises up to hundreds of thousands of features with relatively small sample size. Because learning algorithms usually do not work well with this kind of data, a challenge to reduce the data dimensionality arises. A huge number of gene selection are applied to select a subset of relevant features for model construction and to seek for better cancer classification performance. This paper presents the basic taxonomy of feature selection, and also reviews the state-of-the-art gene selection methods by grouping the literatures into three categories: supervised, unsupervised, and semi-supervised. The comparison of experimental results on top 5 representative gene expression datasets indicates that the classification accuracy of unsupervised and semi-supervised feature selection is competitive with supervised feature selection.

  12. Forest fire autonomous decision system based on fuzzy logic (United States)

    Lei, Z.; Lu, Jianhua


    The proposed system integrates GPS / pseudolite / IMU and thermal camera in order to autonomously process the graphs by identification, extraction, tracking of forest fire or hot spots. The airborne detection platform, the graph-based algorithms and the signal processing frame are analyzed detailed; especially the rules of the decision function are expressed in terms of fuzzy logic, which is an appropriate method to express imprecise knowledge. The membership function and weights of the rules are fixed through a supervised learning process. The perception system in this paper is based on a network of sensorial stations and central stations. The sensorial stations collect data including infrared and visual images and meteorological information. The central stations exchange data to perform distributed analysis. The experiment results show that working procedure of detection system is reasonable and can accurately output the detection alarm and the computation of infrared oscillations.

  13. Autonomous Landing on Moving Platforms

    KAUST Repository

    Mendoza Chavez, Gilberto


    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.

  14. Telepresent intubation supervision is as effective as in-person supervision of procedurally naive operators. (United States)

    Prescher, Hannes; Grover, Emily; Mosier, Jarrod; Stolz, Uwe; Biffar, David E; Hamilton, Allan J; Sakles, John C


    Telepresence is emerging in clinical and educational settings as a potential modality to provide expert guidance during remote airway management. This study aimed to compare the effectiveness of telepresent versus in-person supervision of tracheal intubation. A randomized, crossover study was performed in a university medical simulation center with 48 first- and second-year medical students with no formal procedural training in tracheal intubation. Each participant was assigned to receive each of four study arms in random sequence: (1) direct laryngoscopy (DL) with in-person supervision, (2) DL with telepresent supervision, (3) videolaryngoscopy (VL) with in-person supervision, and (4) VL with telepresent supervision. Telepresence was established with a smartphone (Apple [Cupertino, CA] iPhone(®)) via FaceTime(®) connection. The primary outcome measure was the time to successful intubation. Secondary outcome measures included first pass success rate and the number of blade and tube attempts. There was no significant difference between in-person and telepresent supervision for any of the outcomes. The median difference (in-person versus telepresent) for time to intubation was -3 s (95% confidence interval [CI], -20 to 14 s). The odds ratio for first attempt success was 0.7 (95% CI, 0.3-1.3), and the rate ratio for extra number of blade attempts (i.e., attempts in addition to first) was 1.1 (95% CI, 0.7-1.7) and 1.4 (95% CI, 0.9-2.2) for extra number of tube attempts. In this study population of procedurally naive medical students, telepresent supervision was as effective as in-person supervision for tracheal intubation.

  15. Measuring the intensity of resident supervision in the department of veterans affairs: the resident supervision index. (United States)

    Byrne, John M; Kashner, Michael; Gilman, Stuart C; Aron, David C; Cannon, Grant W; Chang, Barbara K; Godleski, Linda; Golden, Richard M; Henley, Steven S; Holland, Gloria J; Kaminetzky, Catherine P; Keitz, Sheri A; Kirsh, Susan; Muchmore, Elaine A; Wicker, Annie B


    To develop a survey instrument designed to quantify supervision by attending physicians in nonprocedural care and to assess the instrument's feasibility and reliability. In 2008, the Department of Veterans Affairs (VA) Office of Academic Affiliations convened an expert panel to adopt a working definition of attending supervision in nonprocedural patient care and to construct a survey to quantify it. Feasibility was field-tested on residents and their supervising attending physicians at primary care internal medicine clinics at the VA Loma Linda Healthcare System in their encounters with randomly selected outpatients diagnosed with either major depressive disorder or diabetes. The authors assessed both interrater concurrent reliability and test-retest reliability. The expert panel adopted the VA's definition of resident supervision and developed the Resident Supervision Index (RSI) to measure supervision in terms of residents' case understanding, attending physicians' contributions to patient care through feedback to the resident, and attending physicians' time (minutes). The RSI was field-tested on 60 residents and 37 attending physicians for 148 supervision episodes from 143 patient encounters. Consent rates were 94% for residents and 97% for attending physicians; test-retest reliability intraclass correlations (ICCs) were 0.93 and 0.88, respectively. Concurrent reliability between residents' and attending physicians' reported time was an ICC of 0.69. The RSI is a feasible and reliable measure of resident supervision that is intended for research studies in graduate medical education focusing on education outcomes, as well as studies assessing quality of care, patient health outcomes, care costs, and clinical workload.

  16. Nondisclosure in Triadic Supervision: A Phenomenological Study of Counseling Students (United States)

    Lonn, Marlise R.; Juhnke, Gerald


    Triadic supervision is common within counselor training; however, limited research in professional counseling literature exists describing counseling students' experiences of choosing what to disclose within triadic supervision. Using transcendental phenomenological research, the authors investigated supervisees' nondisclosure within triadic…

  17. QUEST : Eliminating online supervised learning for efficient classification algorithms

    NARCIS (Netherlands)

    Zwartjes, Ardjan; Havinga, Paul J.M.; Smit, Gerard J.M.; Hurink, Johann L.


    In this work, we introduce QUEST (QUantile Estimation after Supervised Training), an adaptive classification algorithm for Wireless Sensor Networks (WSNs) that eliminates the necessity for online supervised learning. Online processing is important for many sensor network applications. Transmitting

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

    NARCIS (Netherlands)

    Breevaart, Kimberley; de Vries, Reinout Everhard


    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

  19. Semi-supervised learning via regularized boosting working on multiple semi-supervised assumptions. (United States)

    Chen, Ke; Wang, Shihai


    Semi-supervised learning concerns the problem of learning in the presence of labeled and unlabeled data. Several boosting algorithms have been extended to semi-supervised learning with various strategies. To our knowledge, however, none of them takes all three semi-supervised assumptions, i.e., smoothness, cluster, and manifold assumptions, together into account during boosting learning. In this paper, we propose a novel cost functional consisting of the margin cost on labeled data and the regularization penalty on unlabeled data based on three fundamental semi-supervised assumptions. Thus, minimizing our proposed cost functional with a greedy yet stagewise functional optimization procedure leads to a generic boosting framework for semi-supervised learning. Extensive experiments demonstrate that our algorithm yields favorite results for benchmark and real-world classification tasks in comparison to state-of-the-art semi-supervised learning algorithms, including newly developed boosting algorithms. Finally, we discuss relevant issues and relate our algorithm to the previous work.



    H. Huang; J. Liu; Y. Pan


    The problem of learning with both labeled and unlabeled examples arises frequently in Hyperspectral image (HSI) classification. While marginal Fisher analysis is a supervised method, which cannot be directly applied for Semi-supervised classification. In this paper, we proposed a novel method, called semi-supervised marginal Fisher analysis (SSMFA), to process HSI of natural scenes, which uses a combination of semi-supervised learning and manifold learning. In SSMFA, a new difference...

  1. Autonomic Function in Neurodegenerative Diseases

    DEFF Research Database (Denmark)

    Sørensen, Gertrud Laura; Jennum, Poul Jørgen


    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...... areas, which is consistent with the Braak hypothesis. In the narcolepsy patients, it was shown that a reduced HRR to arousals was primarily predicted by hypocretin deficiency in both rapid-eye-movement (REM) and non-REM sleep, independent of cataplexy and other factors. The results confirm...... that hypocretin deficiency affects the autonomic nervous system of patients with narcolepsy and that the hypocretin system is important for proper heart rate modulation at rest.Furthermore, it was shown that hypocretin deficiency and cataplexy are associated with signs of destabilized sleep-wake and REM sleep...

  2. Development of the Artistic Supervision Model Scale (ASMS) (United States)

    Kapusuzoglu, Saduman; Dilekci, Umit


    The purpose of the study is to develop the Artistic Supervision Model Scale in accordance with the perception of inspectors and the elementary and secondary school teachers on artistic supervision. The lack of a measuring instrument related to the model of artistic supervision in the field of literature reveals the necessity of such study. 290…

  3. The Doctoral Thesis and Supervision: The Student Perspective (United States)

    Kiguwa, Peace; Langa, Malose


    The doctoral thesis constitutes both a negotiation of the supervision relationship as well as mastery and skill in participating in a specific community of practice. Two models of supervision are discussed: the technical rationality model with its emphasis on technical aspects of supervision, and the negotiated order model with an emphasis on…

  4. Supervision as transformative leadership in the context of university ...

    African Journals Online (AJOL)

    ... any model of supervision or promotion of students. The article advances a view that supervision and promotion of the said students should be transformative leadership. This approach to supervision or promotion of students suggests enabling them to develop as researchers and contributors to university goals of teaching, ...

  5. 28 CFR 2.94 - Supervision reports to Commission. (United States)


    ... 28 Judicial Administration 1 2010-07-01 2010-07-01 false Supervision reports to Commission. 2.94... Parolees § 2.94 Supervision reports to Commission. An initial supervision report to confirm the satisfactory initial progress of the parolee shall be submitted to the Commission 90 days after the parolee's...

  6. A Delphi Study and Initial Validation of Counselor Supervision Competencies (United States)

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


    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…

  7. Moment Constrained Semi-Supervised LDA (extended abstract)

    NARCIS (Netherlands)

    Loog, M.


    This BNAIC compressed contribution provides a summary of the work originally presented at the First IAPR Workshop on Partially Supervised Learning and published in [5]. It outlines the idea behind supervised and semi-supervised learning and highlights the major shortcoming of many current methods.

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

    DEFF Research Database (Denmark)

    Gonge, Henrik; Buus, Niels


    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 eviden...

  9. 18 CFR 367.9010 - Account 901, Supervision. (United States)


    ... 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 of customer accounting and collecting activities. Direct supervision of a specific activity must be charged to...

  10. Projected estimators for robust semi-supervised classification

    NARCIS (Netherlands)

    Krijthe, J.H.; Loog, M.


    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

  11. Multiplicity in supervision relationships: A factor in improving ...

    African Journals Online (AJOL)

    Supervision has been identified as an important factor in the success of postgraduate students, even as the most significant variable and a large number of studies have been conducted to identify factors that contribute to supervision success. However the dependent variable in these studies – supervision success – has ...

  12. 30 CFR 250.1616 - Supervision, surveillance, and training. (United States)


    ... 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 drilling...

  13. 46 CFR 380.23 - Supervision of records. (United States)


    ... 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 upon...

  14. 48 CFR 852.236-78 - Government supervision. (United States)


    ... 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 (APR...

  15. 34 CFR 303.501 - Supervision and monitoring of programs. (United States)


    ... 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 of...

  16. 33 CFR 6.12-1 - General supervision and control. (United States)


    ... 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 may...

  17. 7 CFR 27.80 - Fees; classification, Micronaire, and supervision. (United States)


    ... 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, by...

  18. 46 CFR 131.420 - Manning and supervision. (United States)


    ... 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 be...

  19. 18 CFR 367.9070 - Account 907, Supervision. (United States)


    ..., 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 of...

  20. 7 CFR 58.6 - Supervision of service. (United States)


    ... 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 of...

  1. 7 CFR 27.16 - Inspection; weighing; samples; supervision. (United States)


    ... 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 under...

  2. Status of Clinical Supervision among School Counselors in Southeast Georgia (United States)

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


    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…

  3. 25 CFR 213.43 - Relinquishment of Government supervision. (United States)


    ... 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 similar...

  4. 33 CFR 326.4 - Supervision of authorized activities. (United States)


    ... 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, the...

  5. Counseling Supervision within a Feminist Framework: Guidelines for Intervention (United States)

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


    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…

  6. 7 CFR 1944.665 - Supervision and inspection of work. (United States)


    ... 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 repair...

  7. 49 CFR 237.133 - Supervision of repairs and modifications. (United States)


    ... 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 who...

  8. 7 CFR 27.73 - Supervision of transfers of cotton. (United States)


    ... 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 cotton...

  9. 28 CFR 570.44 - Supervision and restraint requirements. (United States)


    ... 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 at...

  10. 34 CFR 300.149 - SEA responsibility for general supervision. (United States)


    ... 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 is...

  11. Educational Technology and Distance Supervision in Counselor Education (United States)

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


    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…

  12. The Bering Autonomous Target Detection

    DEFF Research Database (Denmark)

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


    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...

  13. Political accountability and autonomous weapons

    Directory of Open Access Journals (Sweden)

    James Igoe Walsh


    Full Text Available Autonomous weapons would have the capacity to select and attack targets without direct human input. One important objection to the introduction of such weapons is that they will make it more difficult to identify and hold accountable those responsible for undesirable outcomes such as mission failures and civilian casualties. I hypothesize that individuals can modify their attribution of responsibility in predicable ways to accommodate this new technology. The results of a survey experiment are consistent with this; subjects continue to find responsible and hold accountable political and military leaders when autonomous weapons are used, but also attribute responsibility to the designers and programmers of such weapons.

  14. Autonomic Regulation of Splanchnic Circulation

    Directory of Open Access Journals (Sweden)

    Kathleen A Fraser


    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.

  15. Structural Discrimination and Autonomous Vehicles

    DEFF Research Database (Denmark)

    Liu, Hin-Yan


    This paper examines the potential for structural discrimination to be woven into the fabric of autonomous vehicle developments, which remain underexplored and undiscussed. The prospect for structural discrimination arises as a result of the coordinated modes of autonomous vehicle behaviour...... discrimination looms with the possibility of crash optimisation impulses in which a protective shield is cast over those individuals in which society may have a vested interest in prioritising or safeguarding. A stark dystopian scenario is introduced to sketch the contours whereby personal beacons signal...

  16. Using Information from Rendezvous Missions for Best-Case Appraisals of Impact Damage to Planet Earth Caused by Natural Objects (United States)

    Arnold, James O.; Chodas, Paul W.; Ulamec, Stephan; Mathias, Donovan L.; Burkhard, Craig D.


    The Asteroid Threat Assessment Project (ATAP), a part of NASAs Planetary Defense Coordination Office (PDCO) has the responsibility to appraise the range of surface damage by potential asteroid impacts on land or water. If a threat is realized, the project will provide appraisals to officials empowered to make decisions about potential mitigation actions. This paper describes a scenario for assessment of surface damage when characterization of an asteroid had been accomplished by a rendezvous mission that would be conducted by the international planetary defense community. It is shown that the combination of data from ground and in-situ measurements on an asteroid provides knowledge that can be used to pin-point its impact location and predict the level of devastation it would cause. The hypothetical asteroid 2017 PDC with a size range of 160 to 290 m in diameter to be discussed at the PDC 2017 is used as an example. In order of importance for appraising potential damage, information required is: (1) where will the surface impact occur? (2) what is the mass, shape and size of the asteroid and what is its entry state (speed and entry angle) at the 100 km atmospheric pierce point? And (3) is the asteroid a monolith or a rubble pile? If it is a rubble pile, what is its structure and heterogeneity from the surface and throughout its interior? Item (1) is of first order importance to determine levels of devastation (loss of life and infrastructure damage) because it varies strongly on the impact location. Items (2) and (3) are used as inputs for ATAPs simulations to define the level of surface hazards: winds, overpressure, thermal exposure; all created by the deposition of energy during the objects atmospheric flight, andor cratering. Topics presented in this paper include: (i) the devastation predicted by 2017 PDCs impact on land based on initial observations using ATAPs risk assessment capability, (ii) how information corresponding to items (1) to (3) could be obtained

  17. Supervised Learning for Visual Pattern Classification (United States)

    Zheng, Nanning; Xue, Jianru

    This chapter presents an overview of the topics and major ideas of supervised learning for visual pattern classification. Two prevalent algorithms, i.e., the support vector machine (SVM) and the boosting algorithm, are briefly introduced. SVMs and boosting algorithms are two hot topics of recent research in supervised learning. SVMs improve the generalization of the learning machine by implementing the rule of structural risk minimization (SRM). It exhibits good generalization even when little training data are available for machine training. The boosting algorithm can boost a weak classifier to a strong classifier by means of the so-called classifier combination. This algorithm provides a general way for producing a classifier with high generalization capability from a great number of weak classifiers.

  18. Supervised hub-detection for brain connectivity

    DEFF Research Database (Denmark)

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


    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...... 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...

  19. Scale selection for supervised image segmentation

    DEFF Research Database (Denmark)

    Li, Yan; Tax, David M J; Loog, Marco


    Finding the right scales for feature extraction is crucial for supervised image segmentation based on pixel classification. There are many scale selection methods in the literature; among them the one proposed by Lindeberg is widely used for image structures such as blobs, edges and ridges. Those...... unsupervised scale selection paradigms and present a supervised alternative. In particular, the so-called max rule is proposed, which selects a scale for each pixel to have the largest confidence in the classification across the scales. In interpreting the classifier as a complex image filter, we can relate...... our approach back to Lindeberg's original proposal. In the experiments, the max rule is applied to artificial and real-world image segmentation tasks, which is shown to choose the right scales for different problems and lead to better segmentation results....

  20. 12 CFR 261.20 - Confidential supervisory information made available to supervised financial institutions and... (United States)


    ... Certain Circumstances § 261.20 Confidential supervisory information made available to supervised financial... information to supervised financial institutions. Confidential supervisory information concerning a supervised...) Disclosure of confidential supervisory information by supervised financial institution—(1) Parent bank...

  1. Connected and autonomous vehicles 2040 vision. (United States)


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

  2. Energy homeostasis, autonomic activity and obesity

    NARCIS (Netherlands)

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


    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

  3. Diapason: an assistant system for supervision

    International Nuclear Information System (INIS)

    Coudouneau, L.; Leyval, L.; Montmain, J.; Penalva, J.M.


    Simulation and assisted diagnosis are the contributions DIAPASON provides to supervision. The reasonings are based on a qualitative model, a knowledge base and a set of constraints on the values of the process variables, all three issued from a single representation of the process. After an overview of the qualitative simulation, the on line interpretation of the latter and the heuristic diagnosis, the cooperation of these three units is pointed out [fr

  4. Supervised Learning in Hyper-Column Model


    島田, 敬士; 鶴田, 直之; 谷口, 倫一郎


    In this paper, we propose a supervised learning method in Hyper-Column Model (HCM). HCM is a model to recognize images, and consists of Hierarchical Self-Organizing Maps (HSOM) and Neocognitron (NC). HCM complements disadvantages of HSOM and NC, and inherits advantages from them. There is a problem, however, that HCM does not suit general image recognition in HCM since its learning method is an unsupervised one with competitive learning which is used by Self-Organizing Map (SOM). Therefore...

  5. Deeply-Supervised CNN for Prostate Segmentation


    Zhu, Qikui; Du, Bo; Turkbey, Baris; Choyke, Peter L .; Yan, Pingkun


    Prostate segmentation from Magnetic Resonance (MR) images plays an important role in image guided interven- tion. However, the lack of clear boundary specifically at the apex and base, and huge variation of shape and texture between the images from different patients make the task very challenging. To overcome these problems, in this paper, we propose a deeply supervised convolutional neural network (CNN) utilizing the convolutional information to accurately segment the prostate from MR image...

  6. Framing doctoral supervision as formative assessment

    DEFF Research Database (Denmark)

    Kobayashi, Sofie

    . In running courses for doctoral supervisors, one aspect that escapes attention when using these mental models is assessment, and such model can support new supervisors in reflecting on how to build autonomy. There is a body of research into the PhD examination, but this has not been translated into formative...... assessment during the PhD process. This proposal aims to fill that need by suggesting a mental model of supervision as formative assessment....

  7. Nuclear licensing and supervision in Germany

    International Nuclear Information System (INIS)


    The legal instrument for implementing the licensing and supervisory procedure is specified by statutory ordinances, guidelines and provisions. The licensing requirements for nuclear power plants on the final storage of radioactive wastes in the federal republic of germany are described. The nuclear facilities are subject to continuous state supervision after they have been granted. The appendix gives a brief account of the most important ordinances relating to the AtG and extracts from the Nuclear Safety Convention. (HP)

  8. Supervision in social work NGOs in Bihor County

    Directory of Open Access Journals (Sweden)

    Cristiana Marcela MARC


    Full Text Available This paper presents a qualitative research which aims at analyzing supervision in the social services provided by NGOs in Bihor County. We used the method of sociological investigation by means of interview and data collection was accomplished through the technique of individual semi-structured interview. The obtained responses demonstrate that individual supervision was mostly used and in most cases the professional supervisor was from outside the organization. The respondents considered that supervision reduces professional stress. The main problems encountered in the implementation of supervision are the lack of financial resources and the association of supervision with bureaucratic control.

  9. Observation versus classification in supervised category learning. (United States)

    Levering, Kimery R; Kurtz, Kenneth J


    The traditional supervised classification paradigm encourages learners to acquire only the knowledge needed to predict category membership (a discriminative approach). An alternative that aligns with important aspects of real-world concept formation is learning with a broader focus to acquire knowledge of the internal structure of each category (a generative approach). Our work addresses the impact of a particular component of the traditional classification task: the guess-and-correct cycle. We compare classification learning to a supervised observational learning task in which learners are shown labeled examples but make no classification response. The goals of this work sit at two levels: (1) testing for differences in the nature of the category representations that arise from two basic learning modes; and (2) evaluating the generative/discriminative continuum as a theoretical tool for understand learning modes and their outcomes. Specifically, we view the guess-and-correct cycle as consistent with a more discriminative approach and therefore expected it to lead to narrower category knowledge. Across two experiments, the observational mode led to greater sensitivity to distributional properties of features and correlations between features. We conclude that a relatively subtle procedural difference in supervised category learning substantially impacts what learners come to know about the categories. The results demonstrate the value of the generative/discriminative continuum as a tool for advancing the psychology of category learning and also provide a valuable constraint for formal models and associated theories.

  10. Race in Supervision: Let's Talk About It. (United States)

    Schen, Cathy R; Greenlee, Alecia


    Addressing race and racial trauma within psychotherapy supervision is increasingly important in psychiatry training. A therapist's ability to discuss race and racial trauma in psychotherapy supervision increases the likelihood that these topics will be explored as they arise in the therapeutic setting. The authors discuss the contextual and sociocultural dynamics that contributed to their own avoidance of race and racial trauma within the supervisory relationship. The authors examine the features that eventually led to a robust discussion of race and culture within the supervisory setting and identify salient themes that occurred during three phases of the conversation about race: pre-dialogue, the conversation, and after the conversation. These themes include building an alliance, supercompetence, avoidance, shared vulnerability, "if I speak on this, I own it," closeness versus distance, and speaking up. This article reviews the key literature in the field of psychiatry and psychology that has shaped how we understand race and racial trauma and concludes with guidelines for supervisors on how to facilitate talking about race in supervision.

  11. Design of Supervision Systems: Theory and Practice (United States)

    Bouamama, Belkacem Ould


    The term "supervision" means a set of tools and methods used to operate an industrial process in normal situation as well as in the presence of failures or undesired disturbances. The activities concerned with the supervision are the Fault Detection and Isolation (FDI) in the diagnosis level, and the Fault Tolerant Control (FTC) through necessary reconfiguration, whenever possible, in the fault accommodation level. The final goal of a supervision platform is to provide the operator a set of tools that helps to safely run the process and to take appropriate decision in the presence of faults. Different approaches to the design of such decision making tools have been developed in the past twenty years, depending on the kind of knowledge (structural, statistical, fuzzy, expert rules, functional, behavioural…) used to describe the plant operation. How to elaborate models for FDI design, how to develop the FDI algorithm, how to avoid false alarms, how to improve the diagnosability of the faults for alarm management design, how to continue to control the process in failure mode, what are the limits of each method,…?. Such are the main purposes concerned by the presented plenary session from an industrial and theoretical point of view.

  12. Evaluating Autonomous Ground-Robots (United States)


    Evaluating Autonomous Ground-Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Anthony Finn; Adam Jacoff; Mike...these metrics against the detailed choreography of the challenge to prevent teams ‘gaming’ the result (i.e. devising technical solutions that were

  13. 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...

  14. Computing architecture for autonomous microgrids (United States)

    Goldsmith, Steven Y.


    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 .

  15. SemiBoost: boosting for semi-supervised learning. (United States)

    Mallapragada, Pavan Kumar; Jin, Rong; Jain, Anil K; Liu, Yi


    Semi-supervised learning has attracted a significant amount of attention in pattern recognition and machine learning. Most previous studies have focused on designing special algorithms to effectively exploit the unlabeled data in conjunction with labeled data. Our goal is to improve the classification accuracy of any given supervised learning algorithm by using the available unlabeled examples. We call this as the Semi-supervised improvement problem, to distinguish the proposed approach from the existing approaches. We design a metasemi-supervised learning algorithm that wraps around the underlying supervised algorithm and improves its performance using unlabeled data. This problem is particularly important when we need to train a supervised learning algorithm with a limited number of labeled examples and a multitude of unlabeled examples. We present a boosting framework for semi-supervised learning, termed as SemiBoost. The key advantages of the proposed semi-supervised learning approach are: 1) performance improvement of any supervised learning algorithm with a multitude of unlabeled data, 2) efficient computation by the iterative boosting algorithm, and 3) exploiting both manifold and cluster assumption in training classification models. An empirical study on 16 different data sets and text categorization demonstrates that the proposed framework improves the performance of several commonly used supervised learning algorithms, given a large number of unlabeled examples. We also show that the performance of the proposed algorithm, SemiBoost, is comparable to the state-of-the-art semi-supervised learning algorithms.

  16. Autonomous Duffing-Holmes Type Chaotic Oscillator

    DEFF Research Database (Denmark)

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


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

  17. CAAD: Computer Architecture for Autonomous Driving


    Liu, Shaoshan; Tang, Jie; Zhang, Zhe; Gaudiot, Jean-Luc


    We describe the computing tasks involved in autonomous driving, examine existing autonomous driving computing platform implementations. To enable autonomous driving, the computing stack needs to simultaneously provide high performance, low power consumption, and low thermal dissipation, at low cost. We discuss possible approaches to design computing platforms that will meet these needs.

  18. The treatment of autonomic dysfunction in tetanus

    African Journals Online (AJOL)

    may either be spontaneous or triggered by touch, visual, auditory or emotional stimuli.[7] Autonomic dysfunction may occur, and does not necessarily correlate with the severity of tetanus. Wassay et al.[8] reported autonomic dysfunction in a third of tetanus cases. Autonomic dysfunction presents as labile hypertension, ...

  19. Projected estimators for robust semi-supervised classification

    DEFF Research Database (Denmark)

    Krijthe, Jesse H.; Loog, Marco


    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...

  20. Disciplinary supervision following ethics complaints: goals, tasks, and ethical dimensions. (United States)

    Thomas, Janet T


    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. © 2014 Wiley Periodicals, Inc.

  1. An Approach to Supervision for Doctoral and Entry-Level Group Counseling Students (United States)

    Walsh, Robyn; Bambacus, Elizabeth; Gibson, Donna


    The purpose of this article is to provide a supervision approach to experiential groups that replaces professors with doctoral students in the chain of supervision, enlists a faculty member to provide supervision of supervision to the doctoral students, and translates supervision theory to meet the unique needs of group counseling supervision.…

  2. 28 CFR 2.206 - Travel approval and transfers of supervision. (United States)


    ... 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 the...

  3. Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer (United States)

    Wehner, Walter S., Jr.


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

  4. Autonomic computing enabled cooperative networked design

    CERN Document Server

    Wodczak, Michal


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

  5. Is it possible to strengthen psychiatric nursing staff's clinical supervision? RCT of a meta-supervision intervention. (United States)

    Gonge, Henrik; Buus, Niels


    To test the effects of a meta-supervision intervention in terms of participation, effectiveness and benefits of clinical supervision of psychiatric nursing staff. Clinical supervision is regarded as a central component in developing mental health nursing practices, but the evidence supporting positive outcomes of clinical supervision in psychiatric nursing is not convincing. The study was designed as a randomized controlled trial. All permanently employed nursing staff members at three general psychiatric wards at a Danish university hospital (n = 83) were allocated to either an intervention group (n = 40) receiving the meta-supervision in addition to attending usual supervision or to a control group (n = 43) attending usual supervision. Self-reported questionnaire measures of clinical supervision effectiveness and benefits were collected at base line in January 2012 and at follow-up completed in February 2013. In addition, a prospective registration of clinical supervision participation was carried out over 3 months subsequent to the intervention. The main result was that it was possible to motivate staff in the intervention group to participate significantly more frequently in sessions of the ongoing supervision compared with the control group. However, more frequent participation was not reflected in the experienced effectiveness of the clinical supervision or in the general formative or restorative benefits. The intervention had a positive effect 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. © 2014 John Wiley & Sons Ltd.

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

    CERN Document Server

    Perez Bernabeu, Ruben


    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.

  7. Automatic Supervision of Temperature, Humidity, and Luminance with an Assistant Personal Robot

    Directory of Open Access Journals (Sweden)

    Jordi Palacín


    Full Text Available Smart environments and Ambient Intelligence (AmI technologies are defining the future society where energy optimization and intelligent management are essential for a sustainable advance. Mobile robotics is also making an important contribution to this advance with the integration of sensors and intelligent processing algorithms. This paper presents the application of an Assistant Personal Robot (APR as an autonomous agent for temperature, humidity, and luminance supervision in human-frequented areas. The robot multiagent capabilities allow gathering sensor information while exploring or performing specific tasks and then verifying human comfortability levels. The proposed methodology creates information maps with the distribution of temperature, humidity, and luminance and interprets such information in terms of comfort and warns about corrective actuations if required.

  8. Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy

    Directory of Open Access Journals (Sweden)

    Heung Yong Jin


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

  9. Combination of supervised and semi-supervised regression models for improved unbiased estimation

    DEFF Research Database (Denmark)

    Arenas-Garía, Jeronimo; Moriana-Varo, Carlos; Larsen, Jan


    In this paper we investigate the steady-state performance of semisupervised regression models adjusted using a modified RLS-like algorithm, identifying the situations where the new algorithm is expected to outperform standard RLS. By using an adaptive combination of the supervised and semisupervi......In this paper we investigate the steady-state performance of semisupervised regression models adjusted using a modified RLS-like algorithm, identifying the situations where the new algorithm is expected to outperform standard RLS. By using an adaptive combination of the supervised...

  10. Insights into the background of autonomic medicine. (United States)

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


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

  11. Exploring paraprofessional and classroom factors affecting teacher supervision. (United States)

    Irvin, Dwight W; Ingram, Paul; Huffman, Jonathan; Mason, Rose; Wills, Howard


    Paraprofessionals serve a primary role in supporting students with disabilities in the classroom, which necessitates teachers' supervision as a means to improve their practice. Yet, little is known regarding what factors affect teacher supervision. We sought to identify how paraprofessional competence and classroom type affected the levels of teacher direction. We administered an adapted version of the Paraprofessional Needs, Knowledge & Tasks Survey and the Survey for Teachers Supervising Paraprofessionals to teachers supervising paraprofessionals in elementary schools. Structural Equation Modeling was used to examine the link between paraprofessional competence and classroom factors affecting the level of teacher supervision. Our results indicated that when teachers perceived paraprofessionals as being more skilled, they provided more supervision, and when more supervision was provided the less they thought paraprofessionals should be doing their assigned tasks. Additionally, paraprofessionals working in classrooms with more students with mild disabilities received less supervision than paraprofessionals working in classrooms with more students with moderate-to-severe disabilities. Those paraprofessionals in classrooms serving mostly children with mild disabilities were also perceived as having lower levels of skill competence than those serving in classrooms with students with more moderate-to-severe disabilities. By understanding the factors that affect teacher supervision, policy and professional development opportunities can be refined/developed to better support both supervising teachers and paraprofessionals and, in turn, improve the outcomes of children with disabilities. Copyright © 2017 Elsevier Ltd. All rights reserved.

  12. Planning and control in a semi-autonomous planetary micro-rover (United States)

    Malafeew, Eric J.


    The paper describes a semi-autonomous control system on board a small mobile robot intended to explore planetary environments with minimal human supervision. The algorithm performs dead reckoning, hazard mapping, trajectory planning, motion control, health monitoring, and supervisor telemetry. A remote operator station provides a graphical interface for real time telemetry, guidance, and performance tuning. Design emphasis was placed on processing efficiency and robust performance for implementation with inexpensive sensors and microcontrollers. Of novel contribution are a high-level behavioral task architecture and a reactive trajectory planning routine that explicitly incorporates steering and safety constraints. Simulation and field test results under various operating conditions are presented.

  13. Teaching artificial neural systems to drive: Manual training techniques for autonomous systems (United States)

    Shepanski, J. F.; Macy, S. A.


    A methodology was developed for manually training autonomous control systems based on artificial neural systems (ANS). In applications where the rule set governing an expert's decisions is difficult to formulate, ANS can be used to extract rules by associating the information an expert receives with the actions taken. Properly constructed networks imitate rules of behavior that permits them to function autonomously when they are trained on the spanning set of possible situations. This training can be provided manually, either under the direct supervision of a system trainer, or indirectly using a background mode where the networks assimilates training data as the expert performs its day-to-day tasks. To demonstrate these methods, an ANS network was trained to drive a vehicle through simulated freeway traffic.

  14. Genetic classification of populations using supervised learning.

    LENUS (Irish Health Repository)

    Bridges, Michael


    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.

  15. Supervision Vs Education Quality in Primary Education

    Directory of Open Access Journals (Sweden)

    Jhoel Ruber Mota Fonseca


    Full Text Available This article has as objective to interpret the voices of teachers supervising vs quality of education in primary education, as today, supervision entails progress and improvement in the performance of the duties of teachers in the learning environment is therefore, that through this content conflicts present information to achieve changes within educational institutions towards organizational efficiency and under supplied. In it, a qualitative paradigmatic approach as a methodological foundation that allows us to interpret educational supervision through delos social actors which is made up of managers, teachers and supervisors in the context of primary education, established likewise was necessary to collect the information through direct observation technique using as an interview script whose implementation was key informants comprised of a primary teacher education, a supervisor and from this the researcher, thus achieving the corresponding analysis according to the information provided for each, which allowed the development of argumentative skills teachers, establishing rules and procedures that provide guidelines for creating answers to the problem. For with following aims determined in the investigation, vital agents that help teachers to be highly competent in their daily practice, using teaching strategies that will enable success in the classroom, whose purpose is the achievement orientation and optimization in the process of teaching and student learning. In this sense, a reflection about the role it should play the supervisor to achieve educational quality is performed, demonstrating spaces mediation, integration, participation and collaboration with respect to the performance of the master whose aim is to be efficient and effective in its educational work of the educational system.

  16. Burnout in Chinese coal mine safety supervision

    International Nuclear Information System (INIS)

    Chen, Hong; Chen, Feiyu; Zhu, Dandan; Qi, Hui; Long, Ruyin


    This study examines commonly-suffered job burnout as it relates to the practice of safety supervision in Chinese coal mine enterprises. Commonly-suffered job burnout is a form of job burnout caused by external factors. It is closely related to task characteristics rather than individual idiosyncrasies. To explore the causes of commonly-suffered job burnout, the special attributes (the integrated output attributes, conditional output attributes, and public goods attributes) of coal mine safety output and the inevitability of the invalidation of the bounded authority in safety supervision were analyzed in this study, which reveals the formation mechanism of commonly-suffered job burnout. Moreover, a confirmatory game model was constructed to analyze how the attributes of the safety output and bounded authority of safety supervision act on the safety output. The theoretical connotation of commonly-suffered job burnout was explained based on the job demands-resources theory. A comparative analysis of commonly-suffered job burnout and the job burnout that occurs in the traditional research object was also undertaken from the viewpoint of the job demands, which are determined by the characteristics of the work task and their corresponding coping resources. Policy suggestions were given based on interventions in commonly-suffered job burnout. -- Highlights: •We discuss commonly-suffered job burnout in Chinese coal enterprises. •We analyze the special attributes of coal mine safety output. •We explore two main causes of commonly-suffered job burnout. •We construct a game model to validate how the two causes act on safety output. •We put forward related policy suggestions

  17. Genetic classification of populations using supervised learning. (United States)

    Bridges, Michael; Heron, Elizabeth A; O'Dushlaine, Colm; Segurado, Ricardo; Morris, Derek; Corvin, Aiden; Gill, Michael; Pinto, Carlos


    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.

  18. Autonomous Agents as Artistic Collaborators

    DEFF Research Database (Denmark)

    Kadish, David

    In this paper, I ask whether it is possible to exert creative direction on the emergence of large scale patterns from the actions of autonomous or semi-autonomous actors. As an artist and an engineer, I undertake installations and projects with an intent to create, to make art or innovative...... structures. At the same time, one of my artistic interests is in ceding a great deal of creative control to a cluster of robotic actors, in the process interrogating the lack of control that we, as a species, exert over the world. Here, I explore this idea in the context of an ongoing project called...... which innovations at large (galactic systems) and small (DNA) scales emerged were happy accidents of physics and chemistry. This raises the fundamental questions that my work explores, interrogating the relationship between the creativity of emergent processes on the micro- and macro- scales...

  19. Health, autonomic financing and transferences

    Directory of Open Access Journals (Sweden)

    David Cantarero Prieto


    Full Text Available The present paper has as objective to study the whole relative problem to the autonomous communities and regional heath care expenditure financing in Spain. This article has a dual purpose. First, the financing of the current health care attendance is approached in the Spanish regions passing magazine to its possible variants and we observe that the balance of our system is clearly inclined towards the side of the integration in the general pattern of financing («Fiscal Room» with specific conditions («Mixed System». Secondly, we examine the new situation in the mark of health care and its corresponding financing in the new model approved in 2001, in terms of the effects of tax assignment on autonomous communities.

  20. Autonomously managed high power systems

    International Nuclear Information System (INIS)

    Weeks, D.J.; Bechtel, R.T.


    The need for autonomous power management capabilities will increase as the power levels of spacecraft increase into the multi-100 kW range. The quantity of labor intensive ground and crew support consumed by the 9 kW Skylab cannot be afforded in support of a 75-300 kW Space Station or high power earth orbital and interplanetary spacecraft. Marshall Space Flight Center is managing a program to develop necessary technologies for high power system autonomous management. To date a reference electrical power system and automation approaches have been defined. A test facility for evaluation and verification of management algorithms and hardware has been designed with the first of the three power channel capability nearing completion

  1. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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


    Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry...... Manipulation (AIMM)....

  2. Graph-based semi-supervised learning

    CERN Document Server

    Subramanya, Amarnag


    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

  3. Supervision of the vibration of rotating components

    International Nuclear Information System (INIS)


    The aim of the investifation was to plead for the systematization and uniformity of surveillance and to form a source of information to the makers of instruments, suppliers of engines, consultants and others. Two essential topics are treated, namely rotor dynamics and measuring methods for vibration control. An inventory of damages and problems of rotating machinery is presented. Recommendations concerning various supervision programs of reactor safety, the importance of components, risk of missiles and erroreous operations are given along with instructions how to get hold of suitable instruments. Experience from nuclear power plants is said to be essential. Experimental activity at Ringhals and/or Forsmark power plant is proposed. (G.B.)

  4. Report for an accreditation to supervise research

    International Nuclear Information System (INIS)

    Tacnet, Frederique


    After indications of his scientific publications, of his published posters, and of his activities of supervision of students and researchers, the author proposes an overview of his research works since 1987. His first works related biochemical and immuno-cyto-chemical characterisation of the neutral aminopeptidase (a marker in epithelial cells), and then (for his research thesis), to the study of membrane mechanisms during zinc intestinal absorption, and after that, to a study of divalent cation transport mechanisms. More recent works (1994-2000) addressed molecular mechanisms of water and solute transports by aqua-porins. Project on a medium term are presented. Published articles are proposed in appendix

  5. Autonomic computing meets SCADA security


    Nazir, S; Patel, S; Patel, D


    © 2017 IEEE. National assets such as transportation networks, large manufacturing, business and health facilities, power generation, and distribution networks are critical infrastructures. The cyber threats to these infrastructures have increasingly become more sophisticated, extensive and numerous. Cyber security conventional measures have proved useful in the past but increasing sophistication of attacks dictates the need for newer measures. The autonomic computing paradigm mimics the auton...

  6. Autonomic neuropathy in diabetes mellitus

    Directory of Open Access Journals (Sweden)

    Alberto eVerrotti


    Full Text Available Diabetic autonomic neuropathy (DAN is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy (CAN defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent definition, different diagnostic method, different patient cohorts studied. The pathogenesis is still unclear and probably multifactorial. Once DAN becomes clinically evident, no form of therapy has been identified which can effectively stop or reverse it. Prevention strategies are based on strict glycemic control with intensive insulin treatment, multifactorial intervention and lifestyle modification including control of hypertension, dyslipidemia, stop smoking, weight loss and adequate physical exercise. The present review summarizes the latest knowledge regarding clinical presentation, epidemiology, pathogenesis and management of DAN, with some mention to childhood and adolescent population.

  7. Semi autonomous mine detection system

    Energy Technology Data Exchange (ETDEWEB)

    Douglas Few; Roelof Versteeg; Herman Herman


    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.

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

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


    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

  9. Effect of an aerobic exercise intervention on cardiac autonomic regulation: A worksite RCT among cleaners. (United States)

    Hallman, David M; Holtermann, Andreas; Søgaard, Karen; Krustrup, Peter; Kristiansen, Jesper; Korshøj, Mette


    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. Eligible cleaners (n=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 obtained at baseline and at 4-month follow-up. Time and frequency domain indices of HRV were derived during work, leisure time and sleep to evaluate cardiac autonomic regulation. Linear mixed models were used to determine the effect of the intervention on HRV indices, with adjustment for age, gender and daily use of antihypertensive and/or heart medication. 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 (psleep, the HRV indices tended to decrease in the exercise group compared with the reference group from baseline to follow-up, being significant for the HF spectral component (p=0.03). Among cleaners, a worksite aerobic exercise intervention improved cardiac autonomic regulation during work and leisure, but not during sleep. The health effect of this contrasting change in autonomic regulation needs further investigation. Copyright © 2016 Elsevier Inc. All rights reserved.

  10. Critical Incidents in Multicultural Counseling Supervision: A Phenomenological Approach to Supervision Research. (United States)

    Fukuyama, Mary A.


    Focuses on potential usefulness of eliciting "critical incidents" that occur in multicultural supervision. Ethnic minority interns were asked to describe a positive critical incident related to multicultural issues. Results, presented under the three groupings of "openness and support,""culturally relevant…

  11. IDM Supervision: An Integrated Developmental Model for Supervising Counselors and Therapists. (United States)

    Stoltenberg, Cal D.; McNeill, Brian; Delworth, Ursula

    Understanding change over time in one's ability to function as a professional is fundamental in the practice of clinical supervision. Drawing on developmental models of human behavior, a model of the development over time of therapy practice is presented. Specific domains of clinical practice and overriding structures that provide markers in…

  12. Coupled dimensionality reduction and classification for supervised and semi-supervised multilabel learning. (United States)

    Gönen, Mehmet


    Coupled training of dimensionality reduction and classification is proposed previously to improve the prediction performance for single-label problems. Following this line of research, in this paper, we first introduce a novel Bayesian method that combines linear dimensionality reduction with linear binary classification for supervised multilabel learning and present a deterministic variational approximation algorithm to learn the proposed probabilistic model. We then extend the proposed method to find intrinsic dimensionality of the projected subspace using automatic relevance determination and to handle semi-supervised learning using a low-density assumption. We perform supervised learning experiments on four benchmark multilabel learning data sets by comparing our method with baseline linear dimensionality reduction algorithms. These experiments show that the proposed approach achieves good performance values in terms of hamming loss, average AUC, macro F 1 , and micro F 1 on held-out test data. The low-dimensional embeddings obtained by our method are also very useful for exploratory data analysis. We also show the effectiveness of our approach in finding intrinsic subspace dimensionality and semi-supervised learning tasks.

  13. Is supervision necessary? Examining the effects of internet-based CBT training with and without supervision. (United States)

    Rakovshik, Sarah G; McManus, Freda; Vazquez-Montes, Maria; Muse, Kate; Ougrin, Dennis


    To investigate the effect of Internet-based training (IBT), with and without supervision, on therapists' (N = 61) cognitive-behavioral therapy (CBT) skills in routine clinical practice. Participants were randomized into 3 conditions: (1) Internet-based training with use of a consultation worksheet (IBT-CW); (2) Internet-based training with CBT supervision via Skype (IBT-S); and (3) "delayed-training" controls (DTs), who did not receive the training until all data collection was completed. The IBT participants received access to training over a period of 3 months. CBT skills were evaluated at pre-, mid- and posttraining/wait using assessor competence ratings of recorded therapy sessions. Hierarchical linear analysis revealed that the IBT-S participants had significantly greater CBT competence at posttraining than did IBT-CW and DT participants at both the mid- and posttraining/wait assessment points. There were no significant differences between IBT-CW and the delayed (no)-training DTs. IBT programs that include supervision may be a scalable and effective method of disseminating CBT into routine clinical practice, particularly for populations without ready access to more-traditional "live" methods of training. There was no evidence for a significant effect of IBT without supervision over a nontraining control, suggesting that merely providing access to IBT programs may not be an effective method of disseminating CBT to routine clinical practice. (c) 2016 APA, all rights reserved).

  14. Some reflections on clinical supervision: an existential-phenomenological paradigm. (United States)

    Jones, A


    This paper reviews psychotherapy, counselling, and nursing literature related to ideas of clinical supervision and attempts to illuminate areas important to effective health related practice and specifically palliative care. Included are explorations of existentialism, phenomenology, existential phenomenology and psychoanalytical concepts. The phenomenological idea of lived experience is outlined and the Heideggerian notion of authenticity is explored in context. The paper also examines dynamic forces such as hope, trust and personal values that might influence clinical supervision design and so inform a framework for practice. An existential-phenomenological method of supervision is offered as one basis for professional practice. The central recommendation of this paper is, however, to identify relevant value and belief systems to direct clinical supervision. Nursing models might appropriately instruct approaches to supervision. The writer considers the phenomenological idea of the lived experiences as a means by which to at once capture the essence of palliative care nursing and guide the supervision towards the existential idea of authenticity.

  15. Meal Supervision During Medical Hospitalization for Eating Disorders. (United States)

    Kells, Meredith; Schubert-Bob, Pamela; Nagle, Katharine; Hitchko, Louise; O'Neil, Kathleen; Forbes, Peter; McCabe, Margaret


    The focus of medical hospitalization for restrictive eating disorders is weight gain; however, no guidelines exist on how to achieve successful and safe weight gain. Meal supervision may be a supportive intervention to aid in meal completion and weight gain. The aim of this study was to examine the effect of standardized meal supervision on weight gain, length of stay, vital signs, electrolytes, and use of liquid caloric supplementation in hospitalized adolescents and young adults with restrictive eating disorders. A chart review compared patients who received meal supervision from admission through discharge to an earlier cohort who received meal supervision as needed. There were no differences in weight, electrolytes, or vital signs between the two cohorts. Length of stay for those who received meal supervision from admission was 3 days shorter than earlier cohort. Nursing supervised meals beginning at admission may shorten length of stay and decrease health care costs.

  16. The state of psychotherapy supervision: recommendations for future training. (United States)

    Weerasekera, Priyanthy


    This paper reviews the current state of psychotherapy supervision in psychiatric training programmes. A focused literature search was carried out that examined three questions concerning the content, process and outcome of psychotherapy supervision. Results indicate that although requirements for training have broadened somewhat, methods of instruction in supervision have remained the same for many decades. In addition, there is a lack of discussion on what supervision outcomes should be assessed. This paper explores these areas and provides some suggestions for the future of psychotherapy supervision that are evidence-based and generalizable to an international audience. It is time to arrive at an international consensus about guidelines for psychotherapy supervision in psychiatry training programmes. This paper attempts to provide a starting place for psychotherapy supervisors and educators so that we can advance the field forward.

  17. Voxel-Based Neighborhood for Spatial Shape Pattern Classification of Lidar Point Clouds with Supervised Learning. (United States)

    Plaza-Leiva, Victoria; Gomez-Ruiz, Jose Antonio; Mandow, Anthony; García-Cerezo, Alfonso


    Improving the effectiveness of spatial shape features classification from 3D lidar data is very relevant because it is largely used as a fundamental step towards higher level scene understanding challenges of autonomous vehicles and terrestrial robots. In this sense, computing neighborhood for points in dense scans becomes a costly process for both training and classification. This paper proposes a new general framework for implementing and comparing different supervised learning classifiers with a simple voxel-based neighborhood computation where points in each non-overlapping voxel in a regular grid are assigned to the same class by considering features within a support region defined by the voxel itself. The contribution provides offline training and online classification procedures as well as five alternative feature vector definitions based on principal component analysis for scatter, tubular and planar shapes. Moreover, the feasibility of this approach is evaluated by implementing a neural network (NN) method previously proposed by the authors as well as three other supervised learning classifiers found in scene processing methods: support vector machines (SVM), Gaussian processes (GP), and Gaussian mixture models (GMM). A comparative performance analysis is presented using real point clouds from both natural and urban environments and two different 3D rangefinders (a tilting Hokuyo UTM-30LX and a Riegl). Classification performance metrics and processing time measurements confirm the benefits of the NN classifier and the feasibility of voxel-based neighborhood.

  18. Voxel-Based Neighborhood for Spatial Shape Pattern Classification of Lidar Point Clouds with Supervised Learning

    Directory of Open Access Journals (Sweden)

    Victoria Plaza-Leiva


    Full Text Available Improving the effectiveness of spatial shape features classification from 3D lidar data is very relevant because it is largely used as a fundamental step towards higher level scene understanding challenges of autonomous vehicles and terrestrial robots. In this sense, computing neighborhood for points in dense scans becomes a costly process for both training and classification. This paper proposes a new general framework for implementing and comparing different supervised learning classifiers with a simple voxel-based neighborhood computation where points in each non-overlapping voxel in a regular grid are assigned to the same class by considering features within a support region defined by the voxel itself. The contribution provides offline training and online classification procedures as well as five alternative feature vector definitions based on principal component analysis for scatter, tubular and planar shapes. Moreover, the feasibility of this approach is evaluated by implementing a neural network (NN method previously proposed by the authors as well as three other supervised learning classifiers found in scene processing methods: support vector machines (SVM, Gaussian processes (GP, and Gaussian mixture models (GMM. A comparative performance analysis is presented using real point clouds from both natural and urban environments and two different 3D rangefinders (a tilting Hokuyo UTM-30LX and a Riegl. Classification performance metrics and processing time measurements confirm the benefits of the NN classifier and the feasibility of voxel-based neighborhood.

  19. Results of Evolution Supervised by Genetic Algorithms

    Directory of Open Access Journals (Sweden)

    Lorentz JÄNTSCHI


    Full Text Available The efficiency of a genetic algorithm is frequently assessed using a series of operators of evolution like crossover operators, mutation operators or other dynamic parameters. The present paper aimed to review the main results of evolution supervised by genetic algorithms used to identify solutions to agricultural and horticultural hard problems and to discuss the results of using a genetic algorithms on structure-activity relationships in terms of behavior of evolution supervised by genetic algorithms. A genetic algorithm had been developed and implemented in order to identify the optimal solution in term of estimation power of a multiple linear regression approach for structure-activity relationships. Three survival and three selection strategies (proportional, deterministic and tournament were investigated in order to identify the best survival-selection strategy able to lead to the model with higher estimation power. The Molecular Descriptors Family for structure characterization of a sample of 206 polychlorinated biphenyls with measured octanol-water partition coefficients was used as case study. Evolution using different selection and survival strategies proved to create populations of genotypes living in the evolution space with different diversity and variability. Under a series of criteria of comparisons these populations proved to be grouped and the groups were showed to be statistically different one to each other. The conclusions about genetic algorithm evolution according to a number of criteria were also highlighted.

  20. Spectral Learning for Supervised Topic Models. (United States)

    Ren, Yong; Wang, Yining; Zhu, Jun


    Supervised topic models simultaneously model the latent topic structure of large collections of documents and a response variable associated with each document. Existing inference methods are based on variational approximation or Monte Carlo sampling, which often suffers from the local minimum defect. Spectral methods have been applied to learn unsupervised topic models, such as latent Dirichlet allocation (LDA), with provable guarantees. This paper investigates the possibility of applying spectral methods to recover the parameters of supervised LDA (sLDA). We first present a two-stage spectral method, which recovers the parameters of LDA followed by a power update method to recover the regression model parameters. Then, we further present a single-phase spectral algorithm to jointly recover the topic distribution matrix as well as the regression weights. Our spectral algorithms are provably correct and computationally efficient. We prove a sample complexity bound for each algorithm and subsequently derive a sufficient condition for the identifiability of sLDA. Thorough experiments on synthetic and real-world datasets verify the theory and demonstrate the practical effectiveness of the spectral algorithms. In fact, our results on a large-scale review rating dataset demonstrate that our single-phase spectral algorithm alone gets comparable or even better performance than state-of-the-art methods, while previous work on spectral methods has rarely reported such promising performance.

  1. Developing a manual for strengthening mental health nurses' clinical supervision

    DEFF Research Database (Denmark)

    Buus, Niels; Cassedy, Paul; Gonge, Henrik


    In this article, we report findings from a study aimed at developing the content and implementation of a manual for a research-based intervention on clinical supervision of mental health nursing staff. The intervention was designed to strengthen already existing supervision practices through...... educational preparation for supervision and systematic reflection on supervision. The intervention consists of three sessions and was implemented on two groups of mental health hospital staff. We present an outline of the manual and explain how the trial sessions made us adjust the preliminary manual...

  2. A High Accuracy Method for Semi-supervised Information Extraction

    Energy Technology Data Exchange (ETDEWEB)

    Tratz, Stephen C.; Sanfilippo, Antonio P.


    Customization to specific domains of dis-course and/or user requirements is one of the greatest challenges for today’s Information Extraction (IE) systems. While demonstrably effective, both rule-based and supervised machine learning approaches to IE customization pose too high a burden on the user. Semi-supervised learning approaches may in principle offer a more resource effective solution but are still insufficiently accurate to grant realistic application. We demonstrate that this limitation can be overcome by integrating fully-supervised learning techniques within a semi-supervised IE approach, without increasing resource requirements.

  3. Trainees' perceptions of patient safety practices: recounting failures of supervision. (United States)

    Ross, Paula T; McMyler, Eileen T; Anderson, Susan G; Saran, Kelly A; Urteaga-Fuentes, Anabel; Boothman, Richard C; Lypson, Monica L


    Ensuring that trainees receive appropriate clinical supervision is one proven method for improving patient safety outcomes. Yet, supervision is difficult to monitor, even more so during advanced levels of training. The manner in which trainees' perceived failures of supervision influenced patient safety practices across disciplines and various levels of training was investigated. A brief, open-ended questionnaire, administered to 334 newly hired interns, residents, and fellows, asked for descriptions of situations in which they witnessed a failure of supervision and their corresponding response. Of the 265 trainees completing the survey, 73 (27.5%) indicated having witnessed a failure of supervision. The analysis of these responses revealed three types of supervision failures-monitoring, guidance, and feedback. The necessity of adequate supervision and its accompanying consequences were also highlighted in the participants responses. The findings of this study identify two primary sources of failures of supervision: supervisors' failure to respond to trainees' seeking of guidance or clinical support and trainees' failure to seek such support. The findings suggest that the learning environment's influence was sufficient to cause trainees to value their appearance to superiors more than safe patient care, suggesting that trainees' feelings may supersede patients' needs and jeopardize optimal treatment. The literature on the impact of disruptive behavior on patient care may also improve understanding of how intimidating and abusive behavior stifles effective communication and trainees' ability to provide optimal patient care. Improved supervision and communication within the medical hierarchy should not only create more productive learning environments but also improve patient safety.

  4. Clinical supervision: an important part of every nurse's practice. (United States)

    Bifarin, Oladayo; Stonehouse, David


    Clinical supervision involves a supportive relationship between supervisor and supervisee that facilitates reflective learning and is part of professional socialisation. Clinical supervision can take many different forms and may be adapted to suit local circumstances. A working agreement is required between the parties to the supervision and issues surrounding confidentiality must be understood. High-quality clinical supervision leads to greater job satisfaction and less stress. When it is absent or inadequate, however, the results can be serious and it is particularly important that student nurses are well supported in this way. Further research in this area is necessary.

  5. Safety supervision on high-pressure gas regulations

    International Nuclear Information System (INIS)

    Lee, Won Il


    The first part lists the regulation on safety supervision of high-pressure gas, enforcement ordinance on high-pressure gas safety supervision and enforcement regulations about high-pressure gas safety supervision. The second part indicates safety regulations on liquefied petroleum gas and business, enforcement ordinance of safety on liquefied petroleum gas and business, enforcement regulation of safety supervision over liquefied petroleum gas and business. The third part lists regulation on gas business, enforcement ordinance and enforcement regulations on gas business. Each part has theory and explanation for questions.

  6. Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer (United States)

    Shrading, Nicholas J.


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

  7. Autonomous Cryogenic Load Operations: Knowledge-Based Autonomous Test Engineer (United States)

    Schrading, J. Nicolas


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

  8. UAV Research at NASA Langley: Towards Safe, Reliable, and Autonomous Operations (United States)

    Davila, Carlos G.


    Unmanned Aerial Vehicles (UAV) are fundamental components in several aspects of research at NASA Langley, such as flight dynamics, mission-driven airframe design, airspace integration demonstrations, atmospheric science projects, and more. In particular, NASA Langley Research Center (Langley) is using UAVs to develop and demonstrate innovative capabilities that meet the autonomy and robotics challenges that are anticipated in science, space exploration, and aeronautics. These capabilities will enable new NASA missions such as asteroid rendezvous and retrieval (ARRM), Mars exploration, in-situ resource utilization (ISRU), pollution measurements in historically inaccessible areas, and the integration of UAVs into our everyday lives all missions of increasing complexity, distance, pace, and/or accessibility. Building on decades of NASA experience and success in the design, fabrication, and integration of robust and reliable automated systems for space and aeronautics, Langley Autonomy Incubator seeks to bridge the gap between automation and autonomy by enabling safe autonomous operations via onboard sensing and perception systems in both data-rich and data-deprived environments. The Autonomy Incubator is focused on the challenge of mobility and manipulation in dynamic and unstructured environments by integrating technologies such as computer vision, visual odometry, real-time mapping, path planning, object detection and avoidance, object classification, adaptive control, sensor fusion, machine learning, and natural human-machine teaming. These technologies are implemented in an architectural framework developed in-house for easy integration and interoperability of cutting-edge hardware and software.

  9. Intrepid: Exploring the NEA population with a Fleet of Highly Autonomous SmallSat explorers (United States)

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


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

  10. Ground Demonstration on the Autonomous Docking of Two 3U CubeSats Using a Novel Permanent-Magnet Docking Mechanism (United States)

    Pei, Jing; Murchison, Luke; BenShabat, Adam; Stewart, Victor; Rosenthal, James; Follman, Jacob; Branchy, Mark; Sellers, Drew; Elandt, Ryan; Elliott, Sawyer; hide


    Small spacecraft autonomous rendezvous and docking is an essential technology for future space structure assembly missions. A novel magnetic capture and latching mechanism is analyzed 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. A CubeSat 3-DOF ground demonstration effort is on-going at NASA Langley Research Center that enables hardware-in-the loop testing of the autonomous approach and docking of a follower CubeSat to an identical leader CubeSat. The test setup consists of a 3 meter by 4 meter granite table and two nearly frictionless air bearing systems that support the two CubeSats. Four cold-gas on-off thrusters are used to translate the follower towards the leader, while a single reaction wheel is used to control the attitude of each CubeSat. An innovative modified pseudo inverse control allocation scheme was developed to address interactions between control effectors. The docking procedure requires relatively high actuator precision, a novel minimal impulse bit mitigation algorithm was developed to minimize the undesirable deadzone effects of the thrusters. Simulation of the ground demonstration shows that the Guidance, Navigation, and Control system along with the docking subsystem leads to successful docking under 3-sigma dispersions for all key system parameters. Extensive simulation and ground testing will provide sufficient confidence that the proposed docking mechanism along with the choosen suite of sensors and actuators will perform successful docking in the space environment.

  11. Towards the Development of Autonomous Ferries


    Bitar, Glenn Ivan


    Autonomous ships is at the moment a heavily researched topic in the maritime industry. Development to introduce autonomous ferries in the Norwegian fjords is under way. This thesis is a study of technical and formal challenges related to autonomous ferries. The thesis goes into topics such as industrial control systems for ships, path planning and collision avoidance algorithms, as well as automatic docking. Additionally, information and statistics regarding ferry activities in Norway are pre...

  12. The Human Element and Autonomous Ships


    Sauli Ahvenjärvi


    The autonomous ship technology has become a “hot” topic in the discussion about more efficient, environmentally friendly and safer sea transportation solutions. The time is becoming mature for the introduction of commercially sensible solutions for unmanned and fully autonomous cargo and passenger ships. Safety will be the most interesting and important aspect in this development. The utilization of the autonomous ship technology will have many effects on the safety, both positive and negativ...

  13. Autonomous Exploration Using an Information Gain Metric (United States)


    navigation goals, serving to drive an autonomous system. By continually moving to these navigation goals and taking measurements, the system works to...ARL-TR-7638 ● MAR 2016 US Army Research Laboratory Autonomous Exploration Using an Information Gain Metric by Nicholas C Fung...Laboratory Autonomous Exploration Using an Information Gain Metric by Nicholas C Fung, Jason M Gregory, and John G Rogers Computational and

  14. DARTS: Deceiving Autonomous Cars with Toxic Signs


    Sitawarin, Chawin; Bhagoji, Arjun Nitin; Mosenia, Arsalan; Chiang, Mung; Mittal, Prateek


    Sign recognition is an integral part of autonomous cars. Any misclassification of traffic signs can potentially lead to a multitude of disastrous consequences, ranging from a life-threatening accident to a large-scale interruption of transportation services relying on autonomous cars. In this paper, we propose and examine realistic security attacks against sign recognition systems for Deceiving Autonomous caRs with Toxic Signs (we call the proposed attacks DARTS). Leveraging the concept of ad...

  15. Design of an Autonomous Forklift Using Kinect


    Abdellatif Mohamed; Shoeir Metwali; Talaat Omar; Gabalah Mahmoud; Elbably Mohamed; Saleh Saleh


    Material handling is a necessary, but expensive activity in factories. Autonomous robot technology can help reduce the cost and relax humans from the exhaustive job of driving forklifts. In this paper, we describe the mechatronics design and implementation of an autonomous forklift. The robot can perceive the 3D dynamic world and can plan its motion autonomously to lift materials from a source to target locations. Dynamic map of the world is built using data from a Microsoft Kinect head and r...

  16. Implementing a Cloud Platform for Autonomous Driving


    Liu, Shaoshan; Tang, Jie; Wang, Chao; Wang, Quan; Gaudiot, Jean-Luc


    Autonomous driving clouds provide essential services to support autonomous vehicles. Today these services include but not limited to distributed simulation tests for new algorithm deployment, offline deep learning model training, and High-Definition (HD) map generation. These services require infrastructure support including distributed computing, distributed storage, as well as heterogeneous computing. In this paper, we present the details of how we implement a unified autonomous driving clo...

  17. The treatment of autonomic dysfunction in tetanus

    Directory of Open Access Journals (Sweden)

    T van den Heever


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

  18. Science Data Understanding for Autonomous Rover Exploration (United States)

    National Aeronautics and Space Administration — Autonomous rover traversal speed and capabilities are rapidly increasing, but communications bandwidth for planetary exploration remains limited. In order to...

  19. A Generic Architecture for Autonomous Uninhabited Vehicles

    National Research Council Canada - National Science Library

    Barbier, Magali; Gabard, Jean-Francois; Ayreault, Herve


    ...; few solutions propose architecture adaptive to several types of platform. Autonomous vehicles that move in partially known and dynamic environments have to deal with asynchronous disruptive events...

  20. Public Health, Ethics, and Autonomous Vehicles. (United States)

    Fleetwood, Janet


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