WorldWideScience

Sample records for swarm-based autonomic computing

  1. DualTrust: A Trust Management Model for Swarm-Based Autonomic Computing Systems

    Energy Technology Data Exchange (ETDEWEB)

    Maiden, Wendy M. [Washington State Univ., Pullman, WA (United States)

    2010-05-01

    Trust management techniques must be adapted to the unique needs of the application architectures and problem domains to which they are applied. For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, certain characteristics of the mobile agent ant swarm -- their lightweight, ephemeral nature and indirect communication -- make this adaptation especially challenging. This thesis looks at the trust issues and opportunities in swarm-based autonomic computing systems and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and still serves to protect the swarm. After analyzing the applicability of trust management research as it has been applied to architectures with similar characteristics, this thesis specifies the required characteristics for trust management mechanisms used to monitor the trustworthiness of entities in a swarm-based autonomic computing system and describes a trust model that meets these requirements.

  2. Software Engineering and Swarm-Based Systems

    Science.gov (United States)

    Hinchey, Michael G.; Sterritt, Roy; Pena, Joaquin; Rouff, Christopher A.

    2006-01-01

    We discuss two software engineering aspects in the development of complex swarm-based systems. NASA researchers have been investigating various possible concept missions that would greatly advance future space exploration capabilities. The concept mission that we have focused on exploits the principles of autonomic computing as well as being based on the use of intelligent swarms, whereby a (potentially large) number of similar spacecraft collaborate to achieve mission goals. The intent is that such systems not only can be sent to explore remote and harsh environments but also are endowed with greater degrees of protection and longevity to achieve mission goals.

  3. Computing architecture for autonomous microgrids

    Science.gov (United States)

    Goldsmith, Steven Y.

    2015-09-29

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

  4. Autonomic computing enabled cooperative networked design

    CERN Document Server

    Wodczak, Michal

    2014-01-01

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

  5. Computer vision for an autonomous mobile robot

    CSIR Research Space (South Africa)

    Withey, Daniel J

    2015-10-01

    Full Text Available Computer vision systems are essential for practical, autonomous, mobile robots – machines that employ artificial intelligence and control their own motion within an environment. As with biological systems, computer vision systems include the vision...

  6. Properties of a Formal Method to Model Emergence in Swarm-Based Systems

    Science.gov (United States)

    Rouff, Christopher; Vanderbilt, Amy; Truszkowski, Walt; Rash, James; Hinchey, Mike

    2004-01-01

    Future space missions will require cooperation between multiple satellites and/or rovers. Developers are proposing intelligent autonomous swarms for these missions, but swarm-based systems are difficult or impossible to test with current techniques. This viewgraph presentation examines the use of formal methods in testing swarm-based systems. The potential usefulness of formal methods in modeling the ANTS asteroid encounter mission is also examined.

  7. Computation and design of autonomous intelligent systems

    Science.gov (United States)

    Fry, Robert L.

    2008-04-01

    This paper describes a theory of intelligent systems and its reduction to engineering practice. The theory is based on a broader theory of computation wherein information and control are defined within the subjective frame of a system. At its most primitive level, the theory describes what it computationally means to both ask and answer questions which, like traditional logic, are also Boolean. The logic of questions describes the subjective rules of computation that are objective in the sense that all the described systems operate according to its principles. Therefore, all systems are autonomous by construct. These systems include thermodynamic, communication, and intelligent systems. Although interesting, the important practical consequence is that the engineering framework for intelligent systems can borrow efficient constructs and methodologies from both thermodynamics and information theory. Thermodynamics provides the Carnot cycle which describes intelligence dynamics when operating in the refrigeration mode. It also provides the principle of maximum entropy. Information theory has recently provided the important concept of dual-matching useful for the design of efficient intelligent systems. The reverse engineered model of computation by pyramidal neurons agrees well with biology and offers a simple and powerful exemplar of basic engineering concepts.

  8. Adaptively detecting changes in Autonomic Grid Computing

    KAUST Repository

    Zhang, Xiangliang

    2010-10-01

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

  9. Macroevolution simulated with autonomously replicating computer programs.

    Science.gov (United States)

    Yedid, Gabriel; Bell, Graham

    The process of adaptation occurs on two timescales. In the short term, natural selection merely sorts the variation already present in a population, whereas in the longer term genotypes quite different from any that were initially present evolve through the cumulation of new mutations. The first process is described by the mathematical theory of population genetics. However, this theory begins by defining a fixed set of genotypes and cannot provide a satisfactory analysis of the second process because it does not permit any genuinely new type to arise. The evolutionary outcome of selection acting on novel variation arising over long periods is therefore difficult to predict. The classical problem of this kind is whether 'replaying the tape of life' would invariably lead to the familiar organisms of the modern biota. Here we study the long-term behaviour of populations of autonomously replicating computer programs and find that the same type, introduced into the same simple environment, evolves on any given occasion along a unique trajectory towards one of many well-adapted end points.

  10. Autonomic Computing Paradigm For Large Scale Scientific And Engineering Applications

    Science.gov (United States)

    Hariri, S.; Yang, J.; Zhang, Y.

    2005-12-01

    Large-scale distributed scientific applications are highly adaptive and heterogeneous in terms of their computational requirements. The computational complexity associated with each computational region or domain varies continuously and dramatically both in space and time throughout the whole life cycle of the application execution. Furthermore, the underlying distributed computing environment is similarly complex and dynamic in the availabilities and capacities of the computing resources. These challenges combined together make the current paradigms, which are based on passive components and static compositions, ineffectual. Autonomic Computing paradigm is an approach that efficiently addresses the complexity and dynamism of large scale scientific and engineering applications and realizes the self-management of these applications. In this presentation, we present an Autonomic Runtime Manager (ARM) that supports the development of autonomic applications. The ARM includes two modules: online monitoring and analysis module and autonomic planning and scheduling module. The ARM behaves as a closed-loop control system that dynamically controls and manages the execution of the applications at runtime. It regularly senses the state changes of both the applications and the underlying computing resources. It then uses these runtime information and prior knowledge about the application behavior and its physics to identify the appropriate solution methods as well as the required computing and storage resources. Consequently this approach enables us to develop autonomic applications, which are capable of self-management and self-optimization. We have developed and implemented the autonomic computing paradigms for several large scale applications such as wild fire simulations, simulations of flow through variably saturated geologic formations, and life sciences. The distributed wildfire simulation models the wildfire spread behavior by considering such factors as fuel

  11. Stochastic Bayesian Computation for Autonomous Robot Sensorimotor System

    OpenAIRE

    Faix, Marvin; Lobo, Jorge; Laurent, Raphael; Vaufreydaz, Dominique; Mazer, Emmanuel

    2015-01-01

    International audience; This paper presents a stochastic computing implementationof a Bayesian sensorimotor system that performsobstacle avoidance for an autonomous robot. In a previouswork we have shown that we are able to automatically design aprobabilistic machine which computes inferences on a Bayesianmodel using stochastic arithmetic. We start from a high levelBayesian model description, then our compiler generates anelectronic circuit, corresponding to the probabilistic inference,operat...

  12. TOWARD HIGHLY SECURE AND AUTONOMIC COMPUTING SYSTEMS: A HIERARCHICAL APPROACH

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Hsien-Hsin S

    2010-05-11

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

  13. Swarm-based wayfinding support in open and distance learning

    NARCIS (Netherlands)

    Tattersall, Colin; Manderveld, Jocelyn; Van den Berg, Bert; Van Es, René; Janssen, José; Koper, Rob

    2005-01-01

    Please refer to the original source: Tattersall, C. Manderveld, J., Van den Berg, B., Van Es, R., Janssen, J., & Koper, R. (2005). Swarm-based wayfinding support in open and distance learning. In Alkhalifa, E.M. (Ed). Cognitively Informed Systems: Utilizing Practical Approaches to Enrich Information

  14. Autonomic Management of Application Workflows on Hybrid Computing Infrastructure

    Directory of Open Access Journals (Sweden)

    Hyunjoo Kim

    2011-01-01

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

  15. Achieving Autonomic Computing through the Use of Variability Models at Run-time

    OpenAIRE

    Cetina Englada, Carlos

    2010-01-01

    Increasingly, software needs to dynamically adapt its behavior at run-time in response to changing conditions in the supporting computing infrastructure and in the surrounding physical environment. Adaptability is emerging as a necessary underlying capability, particularly for highly dynamic systems such as context-aware or ubiquitous systems. By automating tasks such as installation, adaptation, or healing, Autonomic Computing envisions computing environments that evolve wi...

  16. [Characteristics of autonomic status in employees working with computers].

    Science.gov (United States)

    Vlasova, E M; Zaĭtseva, N V; Maliutina, N N

    2011-01-01

    Human evolution is accompanied by "sensible thoughts" spread to all spheres of occupational activities. One can hardly find an industrial enterprise without computers. In contemporary industry, health care in conditions of humans and computers interaction and evaluation of harm in computer users remain topical. Social and occupational environment is not always comfortable for human body. Changes is occupational conditions, with wide use of computer technologies, decrease role of manual labour and increase role of intellectual work from the one hand, but from the other hand, chasing economic profit alters individual "comfort zone" due to constant psychoemotional stress and causes "burnout". Being healthy in constant stress is impossible.

  17. Students' Perceptions of Autonomous Out-of-Class Learning through the Use of Computers

    Science.gov (United States)

    Liu, Xianghu

    2014-01-01

    This study investigates the attitudes towards, and practices of, computer-assisted autonomous learning in learning English of 160 students from three different higher education institutions in China. To do this, a questionnaire was completed by 160 participants, and follow-up in-depth interviews were undertaken with six participants and six of…

  18. Evolutionary Computation for the Identification of Emergent Behavior in Autonomous Systems

    Science.gov (United States)

    Terrile, Richard J.; Guillaume, Alexandre

    2009-01-01

    Over the past several years the Center for Evolutionary Computation and Automated Design at the Jet Propulsion Laboratory has developed a technique based on Evolutionary Computational Methods (ECM) that allows for the automated optimization of complex computationally modeled systems. An important application of this technique is for the identification of emergent behaviors in autonomous systems. Mobility platforms such as rovers or airborne vehicles are now being designed with autonomous mission controllers that can find trajectories over a solution space that is larger than can reasonably be tested. It is critical to identify control behaviors that are not predicted and can have surprising results (both good and bad). These emergent behaviors need to be identified, characterized and either incorporated into or isolated from the acceptable range of control characteristics. We use cluster analysis of automatically retrieved solutions to identify isolated populations of solutions with divergent behaviors.

  19. Autonomic Modulation in Duchenne Muscular Dystrophy during a Computer Task: A Prospective Control Trial.

    Directory of Open Access Journals (Sweden)

    Mayra Priscila Boscolo Alvarez

    Full Text Available Duchenne Muscular Dystrophy (DMD is characterized by progressive muscle weakness that can lead to disability. Owing to functional difficulties faced by individuals with DMD, the use of assistive technology is essential to provide or facilitate functional abilities. In DMD, cardiac autonomic dysfunction has been reported in addition to musculoskeletal impairment. Consequently, the objective was to investigate acute cardiac autonomic responses, by Heart Rate Variability (HRV, during computer tasks in subjects with DMD.HRV was assessed by linear and nonlinear methods, using the heart rate monitor Polar RS800CX chest strap Electrocardiographic measuring device. Then, 45 subjects were included in the group with DMD and 45 in the healthy Typical Development (TD control group. They were assessed for twenty minutes at rest sitting, and five minutes after undergoing a task on the computer.Individuals with DMD had a statistically significant lower parasympathetic cardiac modulation at rest when compared to the control group, which further declined when undergoing the tasks on the computer.DMD patients presented decreased HRV and exhibited greater intensity of cardiac autonomic responses during computer tasks characterized by vagal withdrawal when compared to the healthy TD control subjects.

  20. An Autonomous Underwater Recorder Based on a Single Board Computer.

    Science.gov (United States)

    Caldas-Morgan, Manuel; Alvarez-Rosario, Alexander; Rodrigues Padovese, Linilson

    2015-01-01

    As industrial activities continue to grow on the Brazilian coast, underwater sound measurements are becoming of great scientific importance as they are essential to evaluate the impact of these activities on local ecosystems. In this context, the use of commercial underwater recorders is not always the most feasible alternative, due to their high cost and lack of flexibility. Design and construction of more affordable alternatives from scratch can become complex because it requires profound knowledge in areas such as electronics and low-level programming. With the aim of providing a solution; a well succeeded model of a highly flexible, low-cost alternative to commercial recorders was built based on a Raspberry Pi single board computer. A properly working prototype was assembled and it demonstrated adequate performance levels in all tested situations. The prototype was equipped with a power management module which was thoroughly evaluated. It is estimated that it will allow for great battery savings on long-term scheduled recordings. The underwater recording device was successfully deployed at selected locations along the Brazilian coast, where it adequately recorded animal and manmade acoustic events, among others. Although power consumption may not be as efficient as that of commercial and/or micro-processed solutions, the advantage offered by the proposed device is its high customizability, lower development time and inherently, its cost.

  1. An Autonomous Underwater Recorder Based on a Single Board Computer.

    Directory of Open Access Journals (Sweden)

    Manuel Caldas-Morgan

    Full Text Available As industrial activities continue to grow on the Brazilian coast, underwater sound measurements are becoming of great scientific importance as they are essential to evaluate the impact of these activities on local ecosystems. In this context, the use of commercial underwater recorders is not always the most feasible alternative, due to their high cost and lack of flexibility. Design and construction of more affordable alternatives from scratch can become complex because it requires profound knowledge in areas such as electronics and low-level programming. With the aim of providing a solution; a well succeeded model of a highly flexible, low-cost alternative to commercial recorders was built based on a Raspberry Pi single board computer. A properly working prototype was assembled and it demonstrated adequate performance levels in all tested situations. The prototype was equipped with a power management module which was thoroughly evaluated. It is estimated that it will allow for great battery savings on long-term scheduled recordings. The underwater recording device was successfully deployed at selected locations along the Brazilian coast, where it adequately recorded animal and manmade acoustic events, among others. Although power consumption may not be as efficient as that of commercial and/or micro-processed solutions, the advantage offered by the proposed device is its high customizability, lower development time and inherently, its cost.

  2. Autonomic intrusion detection: Adaptively detecting anomalies over unlabeled audit data streams in computer networks

    KAUST Repository

    Wang, Wei

    2014-06-22

    In this work, we propose a novel framework of autonomic intrusion detection that fulfills online and adaptive intrusion detection over unlabeled HTTP traffic streams in computer networks. The framework holds potential for self-managing: self-labeling, self-updating and self-adapting. Our framework employs the Affinity Propagation (AP) algorithm to learn a subject’s behaviors through dynamical clustering of the streaming data. It automatically labels the data and adapts to normal behavior changes while identifies anomalies. Two large real HTTP traffic streams collected in our institute as well as a set of benchmark KDD’99 data are used to validate the framework and the method. The test results show that the autonomic model achieves better results in terms of effectiveness and efficiency compared to adaptive Sequential Karhunen–Loeve method and static AP as well as three other static anomaly detection methods, namely, k-NN, PCA and SVM.

  3. Computer Vision and Machine Learning for Autonomous Characterization of AM Powder Feedstocks

    Science.gov (United States)

    DeCost, Brian L.; Jain, Harshvardhan; Rollett, Anthony D.; Holm, Elizabeth A.

    2017-03-01

    By applying computer vision and machine learning methods, we develop a system to characterize powder feedstock materials for metal additive manufacturing (AM). Feature detection and description algorithms are applied to create a microstructural scale image representation that can be used to cluster, compare, and analyze powder micrographs. When applied to eight commercial feedstock powders, the system classifies powder images into the correct material systems with greater than 95% accuracy. The system also identifies both representative and atypical powder images. These results suggest the possibility of measuring variations in powders as a function of processing history, relating microstructural features of powders to properties relevant to their performance in AM processes, and defining objective material standards based on visual images. A significant advantage of the computer vision approach is that it is autonomous, objective, and repeatable.

  4. Electrical and computer architecture of an autonomous Mars sample return rover prototype

    Science.gov (United States)

    Leslie, Caleb Thomas

    Space truly is the final frontier. As man looks to explore beyond the confines of our planet, we use the lessons learned from traveling to the Moon and orbiting in the International Space Station, and we set our sights upon Mars. For decades, Martian probes consisting of orbiters, landers, and even robotic rovers have been sent to study Mars. Their discoveries have yielded a wealth of new scientific knowledge regarding the Martian environment and the secrets it holds. Armed with this knowledge, NASA and others have begun preparations to send humans to Mars with the ultimate goal of colonization and permanent human habitation. The ultimate success of any long term manned mission to Mars will require in situ resource utilization techniques and technologies to both support their stay and make a return trip to Earth viable. A sample return mission to Mars will play a pivotal role in developing these necessary technologies to ensure such an endeavor to be a successful one. This thesis describes an electrical and computer architecture for autonomous robotic applications. The architecture is one that is modular, scalable, and adaptable. These traits are achieved by maximizing commonality and reusability within modules that can be added, removed, or reconfigured within the system. This architecture, called the Modular Architecture for Autonomous Robotic Systems (MAARS), was implemented on the University of Alabama's Collection and Extraction Rover for Extraterrestrial Samples (CERES). The CERES rover competed in the 2016 NASA Sample Return Robot Challenge where robots were tasked with autonomously finding, collecting, and returning samples to the landing site.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-06-15

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

  6. Autonomous, Computer-Based Behavioral Health Countermeasure Evaluation at HI-SEAS Mars Analog.

    Science.gov (United States)

    Anderson, Allison P; Fellows, Abigail M; Binsted, Kim A; Hegel, Mark T; Buckey, Jay C

    Living in an isolated, confined environment (ICE) can induce conflict, stress, and depression. Computer-based behavioral health countermeasures are appealing for training and treatment in ICEs because they provide confidentiality and do not require communication with the outside environment. We evaluated the Virtual Space Station (VSS), a suite of interactive computer-delivered psychological training and treatment programs, at the Hawaii Space Exploration Analog and Simulation (HI-SEAS) III expedition. Six subjects (3 male, 3 female) spent 8 mo in group-isolation and used the Conflict, Stress, and Depression modules in the VSS. Survey evaluations, data collected within the program, and postdeployment interviews were collected. This crew dealt with behavioral health issues common to ICEs. The VSS proved to be a valuable resource and was used both as intended, and in unanticipated ways, to help maintain behavioral health. The Conflict and Stress Modules were rated as highly acceptable (1.8 on a 7-point Likert scale). The crew identified a total of 13 stressors and worked on 9 problems through the VSS. Opinions about the modules were highly individualized. Crewmembers identified exercises in the VSS that were applicable and not applicable to their needs. Additional content to improve the program was identified. Autonomous, confidential training and treatment for behavioral health issues will need to be a critical component of long duration spaceflight travel. This work provides an evaluation of such a tool in a relevant ICE. Anderson AP, Fellows AM, Binsted KA, Hegel MT, Buckey JC. Autonomous, computer-based behavioral health countermeasure evaluation at HI-SEAS Mars analog. Aerosp Med Hum Perform. 2016; 87(11):912-920.

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

    Science.gov (United States)

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

    2013-01-01

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

  8. Shape optimization of an autonomous underwater vehicle with a ducted propeller using computational fluid dynamics analysis

    Directory of Open Access Journals (Sweden)

    Tae-Hwan Joung

    2012-03-01

    Full Text Available Autonomous Underwater Vehicles (AUVs provide a useful means of collecting detailed oceano-graphic information. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a procedure using Computational Fluid Dynamics (CFD for determining the hull resistance of an AUV under development, for a given propeller rotation speed and within a given range of AUV velocities. The CFD analysis results reveal the distribution of the hydrodynamic values (velocity, pressure, etc. around the AUV hull and its ducted propeller. The paper then proceeds to present a methodology for optimizing the AUV profile in order to reduce the total resistance. This paper demonstrates that shape optimization of conceptual designs is possible using the commercial CFD package contained in Ansys™. The optimum design to minimize the drag force of the AUV was identified for a given object function and a set of constrained design parameters.

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

    Directory of Open Access Journals (Sweden)

    Luo Delin

    2014-08-01

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

  10. Autonomic nervous system regulation of the sinoatrial cell depolarization rate: Unifying computational models.

    Science.gov (United States)

    Castellanos, P; Godinez, R

    2015-01-01

    In the last years different computational models have been proposed to simulate the sinoatrial node cell (SANC) action potential. Also, there has been a great effort to model the heart regulation mechanism by the autonomic nervous system (ANS) through the sympathetic and parasympathetic pathways. Both computational models have tried to fit the rabbit and/or the guinea-pig experimental heart rate data with an increasing success. Thus, the aim of this work was to unify the available models that have been reported to study the heart rate behavior when the SANC is stimulated by using different frequency patterns. Our results contribute to the unification of part of the Scepanovic's model [1] (involved with second messengers dynamics and its influence over specific SANC ionic channels), and the SANC ionic channels computational model proposed by Severi et al. [2] in 2012. In this model unification we did refit some parameters, particularly, those related to the Hill functions in the dynamic modeling of phosphokinase and its effect on the ionic channels currents If and ICaL, and over the Pup, parameter that is related to the Ca(++) uptake by the sarcoplasmic reticulum. Also, we eliminated the neurotransmitter effect over the ionic current IKr that is not presented in the Severi's model. These modifications were enough to successfully reproduce the heart rate experimental recordings under acetylcholine (Ach) or norepinephrine (NE) for independent stimulation: Ach 10 nM stimulation showed a 21.54% action potential shift compared with the 20% reported for experimental recordings; Isoprenaline 1 μM, also displayed a depolarization increased rate of 29.3%, compared with the experimental data of 28.2%. Furthermore, we were able to reproduce the guinea-pig experimental heart rate recordings, when the SANC model was vagal stimulated by using a 2 Hz, 10 Hz and 20 Hz frequency for 10 seconds and the experimental heart rate data for a sympathetic stimulation of 10 Hz frequency for

  11. Swarm based mean-variance mapping optimization (MVMOS) for solving economic dispatch

    Science.gov (United States)

    Khoa, T. H.; Vasant, P. M.; Singh, M. S. Balbir; Dieu, V. N.

    2014-10-01

    The economic dispatch (ED) is an essential optimization task in the power generation system. It is defined as the process of allocating the real power output of generation units to meet required load demand so as their total operating cost is minimized while satisfying all physical and operational constraints. This paper introduces a novel optimization which named as Swarm based Mean-variance mapping optimization (MVMOS). The technique is the extension of the original single particle mean-variance mapping optimization (MVMO). Its features make it potentially attractive algorithm for solving optimization problems. The proposed method is implemented for three test power systems, including 3, 13 and 20 thermal generation units with quadratic cost function and the obtained results are compared with many other methods available in the literature. Test results have indicated that the proposed method can efficiently implement for solving economic dispatch.

  12. An Investigation of the Relationship between College Chinese EFL Students' Autonomous Learning Capacity and Motivation in Using Computer-Assisted Language Learning

    Science.gov (United States)

    Pu, Minran

    2009-01-01

    The purpose of the study was to investigate the relationship between college EFL students' autonomous learning capacity and motivation in using web-based Computer-Assisted Language Learning (CALL) in China. This study included three questionnaires: the student background questionnaire, the questionnaire on student autonomous learning capacity, and…

  13. A Triangular Approach to Motivation in Computer Assisted Autonomous Language Learning (CAALL)

    Science.gov (United States)

    Raby, Francoise

    2007-01-01

    This study was carried out in a language centre, in French higher education. Teachers and researchers had contrived a pedagogical system labeled guided autonomy which combined class attendance in groups and self-study in the self-study room. This kind of autonomous and technologically enhanced learning system will be referred to as CAALL (Computer…

  14. A NEW MODEL OF AUTONOMOUS MOBILE ROBOTS WITH LIGHTS AND ITS COMPUTATIONAL POWER

    OpenAIRE

    寺井, 智史

    2016-01-01

    We study gathering problem for robots that move on a two dimensional plane. Robots are autonomous, anonymous, and have light that represents robot’s state. Gathering algorithm for n=2 robots is proposed in previous research. We propose a new model of robots with lights and athering algorithm. Key Words :distributed , mobile robots , light

  15. Combining a Novel Computer Vision Sensor with a Cleaning Robot to Achieve Autonomous Pig House Cleaning

    DEFF Research Database (Denmark)

    Andersen, Nils Axel; Braithwaite, Ian David; Blanke, Mogens

    2005-01-01

    Cleaning of livestock buildings is the single most health-threatening task in the agricultural industry and a transition to robot-based cleaning would be instrumental to improving working conditions for employees. Present cleaning robots fall short on cleanness quality, as they cannot perform...... condition based cleaning. This paper describes how a novel sensor, developed for the purpose, and algorithms for classification and learning are combined with a commercial robot to obtain an autonomous system which meets the necessary quality attributes. These include features to make selective cleaning...... where dirty areas are detected, that operator assistance is called only when cleanness hypothesis cannot be made with confidence. The paper describes the design of the system where learning from experience maps and operator instructions are combined to obtain a smart and autonomous cleaning robot....

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

    Science.gov (United States)

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

    2012-01-01

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

  17. Computational Experimentation to Understand C2 for Teams of Autonomous Systems and People

    Science.gov (United States)

    2014-12-12

    autopilot , which enables the car to change lanes and roads to reach a predetermined destination, but the driver must stay engaged and ready to...2 Limited autonomous driving (lane control) Preprogrammed flight; remote manual control of sensor operation (FireScout) 3 Autopilot (lane & road...APL Technical Digest, 27(1): 41-55. BBC. 11 July 2013. US drone lands on aircraft carrier. acc from Wikipedia website: http://en.wikipedia.org

  18. Systems, methods and apparatus for generation and verification of policies in autonomic computing systems

    Science.gov (United States)

    Hinchey, Michael G. (Inventor); Rash, James L. (Inventor); Truszkowski, Walter F. (Inventor); Rouff, Christopher A. (Inventor); Sterritt, Roy (Inventor); Gracanin, Denis (Inventor)

    2011-01-01

    Described herein is a method that produces fully (mathematically) tractable development of policies for autonomic systems from requirements through to code generation. This method is illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming method described provides faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.Further, the systems, methods and apparatus described herein provide a way of analyzing policies for autonomic systems and facilities the generation of provably correct implementations automatically, which in turn provides reduced development time, reduced testing requirements, guarantees of correctness of the implementation with respect to the policies specified at the outset, and provides a higher degree of confidence that the policies are both complete and reasonable. The ability to specify the policy for the management of a system and then automatically generate an equivalent implementation greatly improves the quality of software, the survivability of future missions, in particular when the system will operate untended in very remote environments, and greatly reduces development lead times and costs.

  19. A Computationally Inexpensive Optimal Guidance via Radial-Basis-Function Neural Network for Autonomous Soft Landing on Asteroids.

    Directory of Open Access Journals (Sweden)

    Peng Zhang

    Full Text Available Optimal guidance is essential for the soft landing task. However, due to its high computational complexities, it is hardly applied to the autonomous guidance. In this paper, a computationally inexpensive optimal guidance algorithm based on the radial basis function neural network (RBFNN is proposed. The optimization problem of the trajectory for soft landing on asteroids is formulated and transformed into a two-point boundary value problem (TPBVP. Combining the database of initial states with the relative initial co-states, an RBFNN is trained offline. The optimal trajectory of the soft landing is determined rapidly by applying the trained network in the online guidance. The Monte Carlo simulations of soft landing on the Eros433 are performed to demonstrate the effectiveness of the proposed guidance algorithm.

  20. A Computationally Inexpensive Optimal Guidance via Radial-Basis-Function Neural Network for Autonomous Soft Landing on Asteroids.

    Science.gov (United States)

    Zhang, Peng; Liu, Keping; Zhao, Bo; Li, Yuanchun

    2015-01-01

    Optimal guidance is essential for the soft landing task. However, due to its high computational complexities, it is hardly applied to the autonomous guidance. In this paper, a computationally inexpensive optimal guidance algorithm based on the radial basis function neural network (RBFNN) is proposed. The optimization problem of the trajectory for soft landing on asteroids is formulated and transformed into a two-point boundary value problem (TPBVP). Combining the database of initial states with the relative initial co-states, an RBFNN is trained offline. The optimal trajectory of the soft landing is determined rapidly by applying the trained network in the online guidance. The Monte Carlo simulations of soft landing on the Eros433 are performed to demonstrate the effectiveness of the proposed guidance algorithm.

  1. Autonomous Segmentation of Outcrop Images Using Computer Vision and Machine Learning

    Science.gov (United States)

    Francis, R.; McIsaac, K.; Osinski, G. R.; Thompson, D. R.

    2013-12-01

    As planetary exploration missions become increasingly complex and capable, the motivation grows for improved autonomous science. New capabilities for onboard science data analysis may relieve radio-link data limits and provide greater throughput of scientific information. Adaptive data acquisition, storage and downlink may ultimately hold implications for mission design and operations. For surface missions, geology remains an essential focus, and the investigation of in place, exposed geological materials provides the greatest scientific insight and context for the formation and history of planetary materials and processes. The goal of this research program is to develop techniques for autonomous segmentation of images of rock outcrops. Recognition of the relationships between different geological units is the first step in mapping and interpreting a geological setting. Applications of automatic segmentation include instrument placement and targeting and data triage for downlink. Here, we report on the development of a new technique in which a photograph of a rock outcrop is processed by several elementary image processing techniques, generating a feature space which can be interrogated and classified. A distance metric learning technique (Multiclass Discriminant Analysis, or MDA) is tested as a means of finding the best numerical representation of the feature space. MDA produces a linear transformation that maximizes the separation between data points from different geological units. This ';training step' is completed on one or more images from a given locality. Then we apply the same transformation to improve the segmentation of new scenes containing similar materials to those used for training. The technique was tested using imagery from Mars analogue settings at the Cima volcanic flows in the Mojave Desert, California; impact breccias from the Sudbury impact structure in Ontario, Canada; and an outcrop showing embedded mineral veins in Gale Crater on Mars

  2. Low-cost autonomous perceptron neural network inspired by quantum computation

    Science.gov (United States)

    Zidan, Mohammed; Abdel-Aty, Abdel-Haleem; El-Sadek, Alaa; Zanaty, E. A.; Abdel-Aty, Mahmoud

    2017-11-01

    Achieving low cost learning with reliable accuracy is one of the important goals to achieve intelligent machines to save time, energy and perform learning process over limited computational resources machines. In this paper, we propose an efficient algorithm for a perceptron neural network inspired by quantum computing composite from a single neuron to classify inspirable linear applications after a single training iteration O(1). The algorithm is applied over a real world data set and the results are outer performs the other state-of-the art algorithms.

  3. Relating Toy Models of Quantum Computation: Comprehension, Complementarity and Dagger Mix Autonomous Categories

    NARCIS (Netherlands)

    Pavlovic, Dusko

    2011-01-01

    Toy models have been used to separate important features of quantum computation from the rich background of the standard Hilbert space model. Category theory, on the other hand, is a general tool to separate components of mathematical structures, and analyze one layer at a time. It seems natural to

  4. A Hybrid Autonomic Computing-Based Approach to Distributed Constraint Satisfaction Problems

    Directory of Open Access Journals (Sweden)

    Abhishek Bhatia

    2015-03-01

    Full Text Available Distributed constraint satisfaction problems (DisCSPs are among the widely endeavored problems using agent-based simulation. Fernandez et al. formulated sensor and mobile tracking problem as a DisCSP, known as SensorDCSP In this paper, we adopt a customized ERE (environment, reactive rules and entities algorithm for the SensorDCSP, which is otherwise proven as a computationally intractable problem. An amalgamation of the autonomy-oriented computing (AOC-based algorithm (ERE and genetic algorithm (GA provides an early solution of the modeled DisCSP. Incorporation of GA into ERE facilitates auto-tuning of the simulation parameters, thereby leading to an early solution of constraint satisfaction. This study further contributes towards a model, built up in the NetLogo simulation environment, to infer the efficacy of the proposed approach.

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

    Science.gov (United States)

    2012-08-01

    by funding provided by the Na- tional Science Foundation under NSF Project CMMI - 0840442 and through TARDEC grant W911NF-11- D-0001-0048. M...Hall, Englewood Cliffs, New Jersey, 1989. [13] HEYN, T. Simulation of Tracked Vehicles on Granular Terrain Leveraging GPU Comput- ing. M.S. thesis ...Dy- namics on Graphics Processing Unit (GPU) Cards. M.S. thesis , Department of Me- chanical Engineering, University of Wisconsin– Madison, http

  6. Autonomous spacecraft navigation using computer vision: a case study for the moon

    Science.gov (United States)

    Paar, Gerhard; Poelzleitner, Wolfgang

    1995-12-01

    Planetary space exploration by unmanned missions strongly relies on automatic navigation methods. Computer vision has been recognized as a key to the feasibility of robust navigation, landing site identification and hazard avoidance. We present a scenario that uses computer vision methods for the early identification of landing spots, emphasizing the phase between ten kilometers from ground and the identification of the lander position relative to the selected landing site. The key element is a robust matching procedure between the elevation model (and imagery) acquired during orbit, and ground features observed during approach to the desired landing site. We describe how (1) preselection of characteristic landmarks reduces the computational efforts, and (2) a hierarchical data structure (pyramid) on graylevels and elevation models can be successfully combined to achieve a robust landing and navigation system. The behavior of such a system is demonstrated by simulation experiments carried out in a laboratory mock-up. This paper follows up previous work we have performed for the Mars mission scenario, and shows relevant changes that emerge in the Moon mission case of the European Space Agency.

  7. Towards autonomous photonic reservoir computer based on frequency parallelism of neurons

    Science.gov (United States)

    Akrout, Akram; Antonik, Piotr; Haelterman, Marc; Massar, Serge

    2017-02-01

    Reservoir Computing is a bio-inspired computational paradigm particularly well adapted to time-dependent signal processing. The past years have seen the realisation of photonic reservoir computers with performance comparable to digital algorithms. Most of these works are based on delay dynamical systems in which the photonic neurons are treated sequentially. We have recently realised an experimental system based on the concept of frequency multiplexing, in which the neurons are materialised as the amplitude of light at different frequencies. In this system the neurons are processed in parallel, making it in principle much faster than the sequential systems. In most of the works up to now the output of the reservoir is implemented using slow digital offline post-processing. This is also the case of our recent experiment on frequency parallelism. Here we demonstrate, using numerical simulations, the possibility of an analogue electronic readout layer for this system. Our simulations take into account all the experimental limitations of the setup, e.g. sampling rates, device bandwidths, resolutions, and noise. The results obtained are comparable to those produced with the same architecture and a digital output layer. The proposed setup is thus an important step towards analog, low footprint, all-optical information processing. Moreover parallel processing will be necessary for high bandwidth applications.

  8. DISTRIBUTED UAV-SWARM-BASED REAL-TIME GEOMATIC DATA COLLECTION UNDER DYNAMICALLY CHANGING RESOLUTION REQUIREMENTS

    Directory of Open Access Journals (Sweden)

    M. Almeida

    2017-08-01

    Full Text Available Unmanned Aerial Vehicles (UAVs have been used for reconnaissance and surveillance missions as far back as the Vietnam War, but with the recent rapid increase in autonomy, precision and performance capabilities – and due to the massive reduction in cost and size – UAVs have become pervasive products, available and affordable for the general public. The use cases for UAVs are in the areas of disaster recovery, environmental mapping & protection and increasingly also as extended eyes and ears of civil security forces such as fire-fighters and emergency response units. In this paper we present a swarm algorithm that enables a fleet of autonomous UAVs to collectively perform sensing tasks related to environmental and rescue operations and to dynamically adapt to e.g. changing resolution requirements. We discuss the hardware used to build our own drones and the settings under which we validate the proposed approach.

  9. Robotics and Autonomous Systems Laboratory

    Data.gov (United States)

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

  10. Fish and chips: implementation of a neural network model into computer chips to maximize swimming efficiency in autonomous underwater vehicles.

    Science.gov (United States)

    Blake, R W; Ng, H; Chan, K H S; Li, J

    2008-09-01

    Recent developments in the design and propulsion of biomimetic autonomous underwater vehicles (AUVs) have focused on boxfish as models (e.g. Deng and Avadhanula 2005 Biomimetic micro underwater vehicle with oscillating fin propulsion: system design and force measurement Proc. 2005 IEEE Int. Conf. Robot. Auto. (Barcelona, Spain) pp 3312-7). Whilst such vehicles have many potential advantages in operating in complex environments (e.g. high manoeuvrability and stability), limited battery life and payload capacity are likely functional disadvantages. Boxfish employ undulatory median and paired fins during routine swimming which are characterized by high hydromechanical Froude efficiencies (approximately 0.9) at low forward speeds. Current boxfish-inspired vehicles are propelled by a low aspect ratio, 'plate-like' caudal fin (ostraciiform tail) which can be shown to operate at a relatively low maximum Froude efficiency (approximately 0.5) and is mainly employed as a rudder for steering and in rapid swimming bouts (e.g. escape responses). Given this and the fact that bioinspired engineering designs are not obligated to wholly duplicate a biological model, computer chips were developed using a multilayer perception neural network model of undulatory fin propulsion in the knifefish Xenomystus nigri that would potentially allow an AUV to achieve high optimum values of propulsive efficiency at any given forward velocity, giving a minimum energy drain on the battery. We envisage that externally monitored information on flow velocity (sensory system) would be conveyed to the chips residing in the vehicle's control unit, which in turn would signal the locomotor unit to adopt kinematics (e.g. fin frequency, amplitude) associated with optimal propulsion efficiency. Power savings could protract vehicle operational life and/or provide more power to other functions (e.g. communications).

  11. Towards autonomic computing in machine vision applications: techniques and strategies for in-line 3D reconstruction in harsh industrial environments

    Science.gov (United States)

    Molleda, Julio; Usamentiaga, Rubén; García, Daniel F.; Bulnes, Francisco G.

    2011-03-01

    Nowadays machine vision applications require skilled users to configure, tune, and maintain. Because such users are scarce, the robustness and reliability of applications are usually significantly affected. Autonomic computing offers a set of principles such as self-monitoring, self-regulation, and self-repair which can be used to partially overcome those problems. Systems which include self-monitoring observe their internal states, and extract features about them. Systems with self-regulation are capable of regulating their internal parameters to provide the best quality of service depending on the operational conditions and environment. Finally, self-repairing systems are able to detect anomalous working behavior and to provide strategies to deal with such conditions. Machine vision applications are the perfect field to apply autonomic computing techniques. This type of application has strong constraints on reliability and robustness, especially when working in industrial environments, and must provide accurate results even under changing conditions such as luminance, or noise. In order to exploit the autonomic approach of a machine vision application, we believe the architecture of the system must be designed using a set of orthogonal modules. In this paper, we describe how autonomic computing techniques can be applied to machine vision systems, using as an example a real application: 3D reconstruction in harsh industrial environments based on laser range finding. The application is based on modules with different responsibilities at three layers: image acquisition and processing (low level), monitoring (middle level) and supervision (high level). High level modules supervise the execution of low-level modules. Based on the information gathered by mid-level modules, they regulate low-level modules in order to optimize the global quality of service, and tune the module parameters based on operational conditions and on the environment. Regulation actions involve

  12. Solving economic dispatch problem with valve-point effects using swarm-based mean–variance mapping optimization (MVMOS

    Directory of Open Access Journals (Sweden)

    T.H. Khoa

    2015-12-01

    Full Text Available Mean–variance mapping optimization (MVMO is a new population-based metaheuristic technique which is successfully applied for different power system optimization problems. The special feature of MVMO is the mapping function applied for the mutation based on the mean and variance of n-best population. Recently, the modified version of MVMO has been developed to become more powerful, named as swarm-based mean–variance mapping optimization (MVMOS. This paper proposes MVMOS as a new approach for solving the economic dispatch (ED problem considering valve-point effects. To validate the performance of the proposed method, the MVMOS is tested on three systems including 3, 13, and 40 thermal generating units with valve-point effects and the obtained results from MVMOS are compared to those from other existing methods in the literature. Test results have indicated that the proposed MVMOS is more robust and produces better solution quality than many other methods. Therefore, the MVMOS is efficient for solving the ED with valve-point effects.

  13. Autonomic Road Transport Support Systems

    OpenAIRE

    McCluskey, T.L.; Kotsialos, A.; Müller, J.P.; Klugl, F.; Schumann, R.

    2016-01-01

    The work on Autonomic Road Transport Support (ARTS) presented here aims at\\ud meeting the challenge of engineering autonomic behavior in Intelligent Transportation\\ud Systems (ITS) by fusing research from the disciplines of traffic engineering\\ud and autonomic computing. Ideas and techniques from leading edge artificial intelligence\\ud research have been adapted for ITS over the last years. Examples include\\ud adaptive control embedded in real time traffic control systems, heuristic algorithm...

  14. Autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1983-01-01

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

  15. Autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1980-01-01

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

  16. Autonomous search

    CERN Document Server

    Hamadi, Youssef; Saubion, Frédéric

    2012-01-01

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

  17. Computational cell model based on autonomous cell movement regulated by cell-cell signalling successfully recapitulates the "inside and outside" pattern of cell sorting

    Directory of Open Access Journals (Sweden)

    Ajioka Itsuki

    2007-09-01

    Full Text Available Abstract Background Development of multicellular organisms proceeds from a single fertilized egg as the combined effect of countless numbers of cellular interactions among highly dynamic cells. Since at least a reminiscent pattern of morphogenesis can be recapitulated in a reproducible manner in reaggregation cultures of dissociated embryonic cells, which is known as cell sorting, the cells themselves must possess some autonomous cell behaviors that assure specific and reproducible self-organization. Understanding of this self-organized dynamics of heterogeneous cell population seems to require some novel approaches so that the approaches bridge a gap between molecular events and morphogenesis in developmental and cell biology. A conceptual cell model in a computer may answer that purpose. We constructed a dynamical cell model based on autonomous cell behaviors, including cell shape, growth, division, adhesion, transformation, and motility as well as cell-cell signaling. The model gives some insights about what cellular behaviors make an appropriate global pattern of the cell population. Results We applied the model to "inside and outside" pattern of cell-sorting, in which two different embryonic cell types within a randomly mixed aggregate are sorted so that one cell type tends to gather in the central region of the aggregate and the other cell type surrounds the first cell type. Our model can modify the above cell behaviors by varying parameters related to them. We explored various parameter sets with which the "inside and outside" pattern could be achieved. The simulation results suggested that direction of cell movement responding to its neighborhood and the cell's mobility are important for this specific rearrangement. Conclusion We constructed an in silico cell model that mimics autonomous cell behaviors and applied it to cell sorting, which is a simple and appropriate phenomenon exhibiting self-organization of cell population. The model

  18. Autonomic Neuropathy

    Science.gov (United States)

    ... home. Accessed April 30, 2015. Tesfaye S. Neuropathy in diabetes. Medicine. 2015;43:26. Accessed May 13, 2015. Coon E (expert opinion). Mayo Clinic, Rochester, Minn. May 14, 2015. June 06, 2015 Original article: http://www.mayoclinic.org/diseases-conditions/autonomic- ...

  19. Autonom UAV

    OpenAIRE

    Holtby, Johan

    2012-01-01

    In Abisko National Park there are a numberof weather stations. To be able toretrieve the data from the nodes in thefuture a Quadrocopter-prototype has beendeveloped during this master thesisproject as a first step. A quadrocopter isa helicopter with four rotors placed in across formation. The quadrocopter cannavigate autonomous between different GPSpositionsthat are updated during flighttrough Xbee-modules. All levels fromsources code, design of the electronics todevelopment of the chassis wa...

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

    Science.gov (United States)

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

    2014-01-01

    To increase the ability of brain-machine interfaces (BMIs) to control advanced prostheses such as the modular prosthetic limb (MPL), we are developing a novel system: the Hybrid Augmented Reality Multimodal Operation Neural Integration Environment (HARMONIE). This system utilizes hybrid input, supervisory control, and intelligent robotics to allow users to identify an object (via eye tracking and computer vision) and initiate (via brain-control) a semi-autonomous reach-grasp-and-drop of the object by the MPL. Sequential iterations of HARMONIE were tested in two pilot subjects implanted with electrocorticographic (ECoG) and depth electrodes within motor areas. The subjects performed the complex task in 71.4% (20/28) and 67.7% (21/31) of trials after minimal training. Balanced accuracy for detecting movements was 91.1% and 92.9%, significantly greater than chance accuracies (p < 0.05). After BMI-based initiation, the MPL completed the entire task 100% (one object) and 70% (three objects) of the time. The MPL took approximately 12.2 seconds for task completion after system improvements implemented for the second subject. Our hybrid-BMI design prevented all but one baseline false positive from initiating the system. The novel approach demonstrated in this proof-of-principle study, using hybrid input, supervisory control, and intelligent robotics, addresses limitations of current BMIs. PMID:24760914

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

    Science.gov (United States)

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

    2014-07-01

    To increase the ability of brain-machine interfaces (BMIs) to control advanced prostheses such as the modular prosthetic limb (MPL), we are developing a novel system: the Hybrid Augmented Reality Multimodal Operation Neural Integration Environment (HARMONIE). This system utilizes hybrid input, supervisory control, and intelligent robotics to allow users to identify an object (via eye tracking and computer vision) and initiate (via brain-control) a semi-autonomous reach-grasp-and-drop of the object by the MPL. Sequential iterations of HARMONIE were tested in two pilot subjects implanted with electrocorticographic (ECoG) and depth electrodes within motor areas. The subjects performed the complex task in 71.4% (20/28) and 67.7% (21/31) of trials after minimal training. Balanced accuracy for detecting movements was 91.1% and 92.9%, significantly greater than chance accuracies (p < 0.05). After BMI-based initiation, the MPL completed the entire task 100% (one object) and 70% (three objects) of the time. The MPL took approximately 12.2 s for task completion after system improvements implemented for the second subject. Our hybrid-BMI design prevented all but one baseline false positive from initiating the system. The novel approach demonstrated in this proof-of-principle study, using hybrid input, supervisory control, and intelligent robotics, addresses limitations of current BMIs.

  2. Towards autonomous vehicular clouds

    Directory of Open Access Journals (Sweden)

    Stephan Olariu

    2011-09-01

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

  3. PROGRAMMABLE AUTONOMOUS ROBOTS

    Directory of Open Access Journals (Sweden)

    Lucian PESTRITU

    2012-05-01

    Full Text Available This paper aims to present how technology has advanced in terms of programmable microcontrollers and how circuits can be equipped with complex software so they can to act on their own, becoming a so-called autonomous robot or agent. To illustrate this, the 3PI robot is used, which is faced with solving a problem by itself, namely: solving a maze on its own. To make this possible so we had to implement this robot with a computer algorithm that helps it to remember the route that it had just travelled and then find the shortest and fastest way to the destination point.

  4. Autonomic Nervous System Disorders

    Science.gov (United States)

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  5. Apoptosis and Self-Destruct: A Contribution to Autonomic Agents?

    Science.gov (United States)

    Sterritt, Roy; Hinchey, Mike

    2004-01-01

    Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward in designing reliable systems. Agent technologies have been identified as a key enabler for engineering autonomicity in systems, both in terms of retrofitting autonomicity into legacy systems and designing new systems. The AC initiative provides an opportunity to consider other biological systems and principles in seeking new design strategies. This paper reports on one such investigation; utilizing the apoptosis metaphor of biological systems to provide a dynamic health indicator signal between autonomic agents.

  6. Autonomous Micro-Modular Mobile Data Center Cloud Computing Study for Modeling, Simulation, Information Processing and Cyber-Security Viability Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Cloud computing security penetration testing and anomaly detection defense studies were conducted to assess the adequacy of cloud computing security.  Since...

  7. Fast and robust road segmentation and obstacle map generation for autonomous navigation

    CSIR Research Space (South Africa)

    Senekal, FP

    2009-11-01

    Full Text Available The ability to detect and navigate drivable road surfaces is an important research area in autonomous navigation for use in autonomous vehicles. In this paper, a probabilistic computer vision algorithm for segmentation of tarred road surfaces...

  8. Engineering autonomous systems

    OpenAIRE

    Serbedzija N.; Bures T.; Keznikl J.

    2013-01-01

    Future technology needs adaptive, autonomous, self-aware and intelligent behavior offering solutions that are intuitively integrated in our everyday surroundings. One such approach is presented illustrating the major engineering process of autonomous systems construction. The dynamism and autonomous nature of the system elements is modeled by the novel communication/distribution principle that is knowledge- and predicate-based, allowing for late (in run-time) evaluation of communication and c...

  9. Semi-Autonomous Systems Laboratory

    Data.gov (United States)

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

  10. Theoretical foundations for the responsibility of autonomous agents

    NARCIS (Netherlands)

    Hage, Jaap

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

  11. Testing for autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1984-01-01

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

  12. Is paramecium swimming autonomic?

    Science.gov (United States)

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

    2010-11-01

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

  13. AUTONOMOUS GAUSSIAN DECOMPOSITION

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-04-15

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

  14. Autonomous multifunctional nanobrushes-autonomous materials

    Science.gov (United States)

    Ghasemi-Nejhad, Mehrdad N.; Tius, Marcus A.

    2007-04-01

    In this work, taking advantage of carbon nanotubes' small size, and exceptional mechanical, chemical and electrical properties, we report on a series of nano-synthesis procedures that combine conventional chemical vapor deposition and selective substrate area growth followed by chemical functionalizations to fabricate functionalized nano-brushes from aligned carbon nanotube arrays and chemically selective functional groups. The high aspect ratio and small dimension, mechanical stability and flexibility, surface chemical and adhesive characteristics of carbon nanotubes provide opportunities to create nano-brushes with selected chemical functionalities. The nano-brushes are made from aligned multi-walled carbon nanotube bristles grafted onto long SiC fiber handles in various configurations and functionalized with various chemical functional groups. These nano-brushes can easily be manipulated physically, either manually or with the aid of motors. Here, we explain the autonomous characteristics of the functionalized nano-brushes employing functional chemical groups such that the nano-brush can potentially collect various metal particles, ions, and contaminants from liquid solutions and the air environment, autonomously. These functionalized multiwalled carbon nanotube based nano-brushes can work swiftly in both liquid and air environments. With surface modification and functionalization, the nanotube nano-brushes can potentially become a versatile nano-devices in many chemical and biological applications, where they can autonomously pick up the particles they encounter since they can be chemically programmed to function as Autonomous Chemical Nano Robots (ACNR).

  15. A universal projective synchronization of general autonomous ...

    Indian Academy of Sciences (India)

    2015-11-27

    Home; Journals; Pramana – Journal of Physics; Volume 79; Issue 6. A universal projective synchronization of general autonomous chaotic system ... Proceedings of the International Workshop/Conference on Computational Condensed Matter Physics and Materials Science (IWCCMP-2015). Posted on November 27, 2015.

  16. Vision for Autonomous Vehicles and Probes (Dagstuhl Seminar 15461)

    OpenAIRE

    Bruhn, André; Imiya, Atsushi; Leonardis, Ales; Pajdla, Tomas

    2016-01-01

    The vision-based autonomous driving and navigation of vehicles has a long history. In 2013, Daimler succeeded autonomous driving on a public drive way. Today, the Curiosity mars rover is sending video views from Mars to Earth. Computer vision plays a key role in advanced driver assistance systems (ADAS) as well as in exploratory and service robotics. Continuing topics of interest in computer vision are scene and environmental understanding using single- and multiple-camera systems, which are ...

  17. Highly Autonomous Systems Workshop

    Science.gov (United States)

    Doyle, R.; Rasmussen, R.; Man, G.; Patel, K.

    1998-01-01

    It is our aim by launching a series of workshops on the topic of highly autonomous systems to reach out to the larger community interested in technology development for remotely deployed systems, particularly those for exploration.

  18. Autonomous Star Tracker Algorithms

    DEFF Research Database (Denmark)

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

    1998-01-01

    Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances.......Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances....

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

    Science.gov (United States)

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

    2005-01-01

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

  20. Neuromodulation and plasticity in an autonomous robot.

    Science.gov (United States)

    Sporns, Olaf; Alexander, William H

    2002-01-01

    In this paper we implement a computational model of a neuromodulatory system in an autonomous robot. The output of the neuromodulatory system acts as a value signal, modulating widely distributed synaptic changes. The model is based on anatomical and physiological properties of midbrain diffuse ascending systems, in particular parts of the dopamine and noradrenaline systems. During reward conditioning, the model learns to generate tonic and phasic signals that represent predictions and prediction errors, including precisely timed negative signals if expected rewards are omitted or delayed. We test the robot's learning and behavior in different environmental contexts and observe changes in the development of the neuromodulatory system that depend upon environmental factors. Simulation of a computational model incorporating both reward-related and aversive stimuli leads to the emergence of conditioned reward and aversive behaviors. These studies represent a step towards investigating computational aspects of neuromodulatory systems in autonomous robots.

  1. Enabling technologies for autonomous MAV operations

    Science.gov (United States)

    Elbanhawi, M.; Mohamed, A.; Clothier, R.; Palmer, J. L.; Simic, M.; Watkins, S.

    2017-05-01

    The utility of micro air vehicles (MAVs) has expanded significantly in the last decade, and there are now numerous commercial systems available at relatively low cost. This expansion has arisen mainly due to the miniaturisation of flight control systems and advances in energy storage and propulsion technologies. Several emerging applications involve routine operation of MAVs in complex urban environments such as parcel delivery, communications relay and environmental monitoring. However, MAVs currently rely on one or more operators-in-the-loop and, whilst desirable, full autonomous operation has not yet been achieved. In this review paper, autonomous MAV operation in complex environments is explored with conceptualisation for future MAV operation in urban environments. Limitations of current technologies are systematically examined through consideration of the state-of-the-art and future trends. The main limitations challenging the realisation of fully autonomous MAVs are mainly attributed to: computational power, communication and energy storage. These limitations lead to poor sensing and planning capabilities, which are essential components of autonomous MAVs. Possible solutions are explored with goal of enabling MAVs to reliably operate autonomously in urban environments.

  2. Autonomic cardiac innervation

    Science.gov (United States)

    Hasan, Wohaib

    2013-01-01

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

  3. COMPUTING

    CERN Multimedia

    M. Kasemann

    Overview In autumn the main focus was to process and handle CRAFT data and to perform the Summer08 MC production. The operational aspects were well covered by regular Computing Shifts, experts on duty and Computing Run Coordination. At the Computing Resource Board (CRB) in October a model to account for service work at Tier 2s was approved. The computing resources for 2009 were reviewed for presentation at the C-RRB. The quarterly resource monitoring is continuing. Facilities/Infrastructure operations Operations during CRAFT data taking ran fine. This proved to be a very valuable experience for T0 workflows and operations. The transfers of custodial data to most T1s went smoothly. A first round of reprocessing started at the Tier-1 centers end of November; it will take about two weeks. The Computing Shifts procedure was tested full scale during this period and proved to be very efficient: 30 Computing Shifts Persons (CSP) and 10 Computing Resources Coordinators (CRC). The shift program for the shut down w...

  4. Autonomous Robotic Inspection in Tunnels

    Science.gov (United States)

    Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

    2016-06-01

    In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

  5. Autonomous electrochromic assembly

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-03-10

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

  6. The Autonomous Helicopter System

    Science.gov (United States)

    Gilmore, John F.

    1984-06-01

    This paper describes an autonomous airborne vehicle being developed at the Georgia Tech Engineering Experiment Station. The Autonomous Helicopter System (AHS) is a multi-mission system consisting of three distinct sections: vision, planning and control. Vision provides the local and global scene analysis which is symbolically represented and passed to planning as the initial route planning constraints. Planning generates a task dependent path for the vehicle to traverse which assures maximum mission system success as well as safety. Control validates the path and either executes the given route or feeds back to previous sections in order to resolve conflicts.

  7. COMPUTING

    CERN Multimedia

    M. Kasemann

    Overview During the past three months activities were focused on data operations, testing and re-enforcing shift and operational procedures for data production and transfer, MC production and on user support. Planning of the computing resources in view of the new LHC calendar in ongoing. Two new task forces were created for supporting the integration work: Site Commissioning, which develops tools helping distributed sites to monitor job and data workflows, and Analysis Support, collecting the user experience and feedback during analysis activities and developing tools to increase efficiency. The development plan for DMWM for 2009/2011 was developed at the beginning of the year, based on the requirements from the Physics, Computing and Offline groups (see Offline section). The Computing management meeting at FermiLab on February 19th and 20th was an excellent opportunity discussing the impact and for addressing issues and solutions to the main challenges facing CMS computing. The lack of manpower is particul...

  8. COMPUTING

    CERN Multimedia

    I. Fisk

    2011-01-01

    Introduction CMS distributed computing system performed well during the 2011 start-up. The events in 2011 have more pile-up and are more complex than last year; this results in longer reconstruction times and harder events to simulate. Significant increases in computing capacity were delivered in April for all computing tiers, and the utilisation and load is close to the planning predictions. All computing centre tiers performed their expected functionalities. Heavy-Ion Programme The CMS Heavy-Ion Programme had a very strong showing at the Quark Matter conference. A large number of analyses were shown. The dedicated heavy-ion reconstruction facility at the Vanderbilt Tier-2 is still involved in some commissioning activities, but is available for processing and analysis. Facilities and Infrastructure Operations Facility and Infrastructure operations have been active with operations and several important deployment tasks. Facilities participated in the testing and deployment of WMAgent and WorkQueue+Request...

  9. COMPUTING

    CERN Multimedia

    P. McBride

    The Computing Project is preparing for a busy year where the primary emphasis of the project moves towards steady operations. Following the very successful completion of Computing Software and Analysis challenge, CSA06, last fall, we have reorganized and established four groups in computing area: Commissioning, User Support, Facility/Infrastructure Operations and Data Operations. These groups work closely together with groups from the Offline Project in planning for data processing and operations. Monte Carlo production has continued since CSA06, with about 30M events produced each month to be used for HLT studies and physics validation. Monte Carlo production will continue throughout the year in the preparation of large samples for physics and detector studies ramping to 50 M events/month for CSA07. Commissioning of the full CMS computing system is a major goal for 2007. Site monitoring is an important commissioning component and work is ongoing to devise CMS specific tests to be included in Service Availa...

  10. ADAM: ADaptive Autonomous Machine

    NARCIS (Netherlands)

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

    1996-01-01

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

  11. Developing Autonomous Learners.

    Science.gov (United States)

    Mulcahy, Robert F.

    1991-01-01

    Defines the concept of autonomous learning. Presents the Strategies Program for Effective Learning/Thinking (SPELT), including its underlying assumptions, instructional model, teacher training procedures, research findings, and anticipated future development. Research results include implications for learning-disabled and gifted students. (KS)

  12. Autonomous Forest Fire Detection

    NARCIS (Netherlands)

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

    1998-01-01

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

  13. Autonomous component carrier selection

    DEFF Research Database (Denmark)

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

    2009-01-01

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

  14. COMPUTING

    CERN Multimedia

    I. Fisk

    2013-01-01

    Computing activity had ramped down after the completion of the reprocessing of the 2012 data and parked data, but is increasing with new simulation samples for analysis and upgrade studies. Much of the Computing effort is currently involved in activities to improve the computing system in preparation for 2015. Operations Office Since the beginning of 2013, the Computing Operations team successfully re-processed the 2012 data in record time, not only by using opportunistic resources like the San Diego Supercomputer Center which was accessible, to re-process the primary datasets HTMHT and MultiJet in Run2012D much earlier than planned. The Heavy-Ion data-taking period was successfully concluded in February collecting almost 500 T. Figure 3: Number of events per month (data) In LS1, our emphasis is to increase efficiency and flexibility of the infrastructure and operation. Computing Operations is working on separating disk and tape at the Tier-1 sites and the full implementation of the xrootd federation ...

  15. Task sequencing for autonomous robotic vacuum cleaners

    Science.gov (United States)

    Gorbenko, Anna; Popov, Vladimir

    2017-07-01

    Various planning problems for robotic systems are of considerable interest. One of such problems is the problem of task sequencing. In this paper, we consider the problem of task sequencing for autonomous vacuum floor cleaning robots. We consider a graph model for the problem. We propose an efficient approach to solve the problem. In particular, we use an explicit reduction from the decision version of the problem to the satisfiability problem. We present the results of computational experiments for different satisfiability algorithms.

  16. Autonomous Ornithopter Flight with Sensor-Based Seeking Behavior

    OpenAIRE

    Baek, Stanley Seunghoon

    2011-01-01

    This thesis presents the design of autonomous flight control algorithms for a flapping-wing aerial robot with onboard sensing and computational resources. We use a 13 gram ornithopter with biologically inspired clap-and-fling mechanism. For autonomous flight control, we have developed 1.0 gram control electronics integrated with a microcontroller, inertial and visual sensors, communication electronics, and motor drivers. We have also developed a simplified aerodynamic model of ornithopter fli...

  17. Towards a generic autonomic model to manage Cloud Services

    OpenAIRE

    Lejeune, Jonathan; Alvares, Frederico; Ledoux, Thomas

    2017-01-01

    International audience; Autonomic Computing has recently contributed to the development of self-manageable Cloud services. It provides means to free Cloud administrators of the burden of manually managing varying-demand services while enforcing Service Level Agreements (SLAs). However, designingAutonomic Managers (AMs) that take into account services' runtime properties so as to provide SLA guarantees without the proper tooling support may quickly become a non-trivial, fastidious and error-pr...

  18. COMPUTING

    CERN Multimedia

    I. Fisk

    2010-01-01

    Introduction It has been a very active quarter in Computing with interesting progress in all areas. The activity level at the computing facilities, driven by both organised processing from data operations and user analysis, has been steadily increasing. The large-scale production of simulated events that has been progressing throughout the fall is wrapping-up and reprocessing with pile-up will continue. A large reprocessing of all the proton-proton data has just been released and another will follow shortly. The number of analysis jobs by users each day, that was already hitting the computing model expectations at the time of ICHEP, is now 33% higher. We are expecting a busy holiday break to ensure samples are ready in time for the winter conferences. Heavy Ion An activity that is still in progress is computing for the heavy-ion program. The heavy-ion events are collected without zero suppression, so the event size is much large at roughly 11 MB per event of RAW. The central collisions are more complex and...

  19. COMPUTING

    CERN Multimedia

    M. Kasemann P. McBride Edited by M-C. Sawley with contributions from: P. Kreuzer D. Bonacorsi S. Belforte F. Wuerthwein L. Bauerdick K. Lassila-Perini M-C. Sawley

    Introduction More than seventy CMS collaborators attended the Computing and Offline Workshop in San Diego, California, April 20-24th to discuss the state of readiness of software and computing for collisions. Focus and priority were given to preparations for data taking and providing room for ample dialog between groups involved in Commissioning, Data Operations, Analysis and MC Production. Throughout the workshop, aspects of software, operating procedures and issues addressing all parts of the computing model were discussed. Plans for the CMS participation in STEP’09, the combined scale testing for all four experiments due in June 2009, were refined. The article in CMS Times by Frank Wuerthwein gave a good recap of the highly collaborative atmosphere of the workshop. Many thanks to UCSD and to the organizers for taking care of this workshop, which resulted in a long list of action items and was definitely a success. A considerable amount of effort and care is invested in the estimate of the comput...

  20. Catecholamines and diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1995-01-01

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

  1. COMPUTING

    CERN Multimedia

    P. McBride

    It has been a very active year for the computing project with strong contributions from members of the global community. The project has focused on site preparation and Monte Carlo production. The operations group has begun processing data from P5 as part of the global data commissioning. Improvements in transfer rates and site availability have been seen as computing sites across the globe prepare for large scale production and analysis as part of CSA07. Preparations for the upcoming Computing Software and Analysis Challenge CSA07 are progressing. Ian Fisk and Neil Geddes have been appointed as coordinators for the challenge. CSA07 will include production tests of the Tier-0 production system, reprocessing at the Tier-1 sites and Monte Carlo production at the Tier-2 sites. At the same time there will be a large analysis exercise at the Tier-2 centres. Pre-production simulation of the Monte Carlo events for the challenge is beginning. Scale tests of the Tier-0 will begin in mid-July and the challenge it...

  2. COMPUTING

    CERN Multimedia

    I. Fisk

    2012-01-01

    Introduction Computing continued with a high level of activity over the winter in preparation for conferences and the start of the 2012 run. 2012 brings new challenges with a new energy, more complex events, and the need to make the best use of the available time before the Long Shutdown. We expect to be resource constrained on all tiers of the computing system in 2012 and are working to ensure the high-priority goals of CMS are not impacted. Heavy ions After a successful 2011 heavy-ion run, the programme is moving to analysis. During the run, the CAF resources were well used for prompt analysis. Since then in 2012 on average 200 job slots have been used continuously at Vanderbilt for analysis workflows. Operations Office As of 2012, the Computing Project emphasis has moved from commissioning to operation of the various systems. This is reflected in the new organisation structure where the Facilities and Data Operations tasks have been merged into a common Operations Office, which now covers everything ...

  3. COMPUTING

    CERN Multimedia

    I. Fisk

    2011-01-01

    Introduction It has been a very active quarter in Computing with interesting progress in all areas. The activity level at the computing facilities, driven by both organised processing from data operations and user analysis, has been steadily increasing. The large-scale production of simulated events that has been progressing throughout the fall is wrapping-up and reprocessing with pile-up will continue. A large reprocessing of all the proton-proton data has just been released and another will follow shortly. The number of analysis jobs by users each day, that was already hitting the computing model expectations at the time of ICHEP, is now 33% higher. We are expecting a busy holiday break to ensure samples are ready in time for the winter conferences. Heavy Ion The Tier 0 infrastructure was able to repack and promptly reconstruct heavy-ion collision data. Two copies were made of the data at CERN using a large CASTOR disk pool, and the core physics sample was replicated ...

  4. COMPUTING

    CERN Multimedia

    M. Kasemann

    Introduction More than seventy CMS collaborators attended the Computing and Offline Workshop in San Diego, California, April 20-24th to discuss the state of readiness of software and computing for collisions. Focus and priority were given to preparations for data taking and providing room for ample dialog between groups involved in Commissioning, Data Operations, Analysis and MC Production. Throughout the workshop, aspects of software, operating procedures and issues addressing all parts of the computing model were discussed. Plans for the CMS participation in STEP’09, the combined scale testing for all four experiments due in June 2009, were refined. The article in CMS Times by Frank Wuerthwein gave a good recap of the highly collaborative atmosphere of the workshop. Many thanks to UCSD and to the organizers for taking care of this workshop, which resulted in a long list of action items and was definitely a success. A considerable amount of effort and care is invested in the estimate of the co...

  5. COMPUTING

    CERN Multimedia

    M. Kasemann

    CCRC’08 challenges and CSA08 During the February campaign of the Common Computing readiness challenges (CCRC’08), the CMS computing team had achieved very good results. The link between the detector site and the Tier0 was tested by gradually increasing the number of parallel transfer streams well beyond the target. Tests covered the global robustness at the Tier0, processing a massive number of very large files and with a high writing speed to tapes.  Other tests covered the links between the different Tiers of the distributed infrastructure and the pre-staging and reprocessing capacity of the Tier1’s: response time, data transfer rate and success rate for Tape to Buffer staging of files kept exclusively on Tape were measured. In all cases, coordination with the sites was efficient and no serious problem was found. These successful preparations prepared the ground for the second phase of the CCRC’08 campaign, in May. The Computing Software and Analysis challen...

  6. COMPUTING

    CERN Multimedia

    I. Fisk

    2010-01-01

    Introduction The first data taking period of November produced a first scientific paper, and this is a very satisfactory step for Computing. It also gave the invaluable opportunity to learn and debrief from this first, intense period, and make the necessary adaptations. The alarm procedures between different groups (DAQ, Physics, T0 processing, Alignment/calibration, T1 and T2 communications) have been reinforced. A major effort has also been invested into remodeling and optimizing operator tasks in all activities in Computing, in parallel with the recruitment of new Cat A operators. The teams are being completed and by mid year the new tasks will have been assigned. CRB (Computing Resource Board) The Board met twice since last CMS week. In December it reviewed the experience of the November data-taking period and could measure the positive improvements made for the site readiness. It also reviewed the policy under which Tier-2 are associated with Physics Groups. Such associations are decided twice per ye...

  7. COMPUTING

    CERN Multimedia

    M. Kasemann

    Introduction During the past six months, Computing participated in the STEP09 exercise, had a major involvement in the October exercise and has been working with CMS sites on improving open issues relevant for data taking. At the same time operations for MC production, real data reconstruction and re-reconstructions and data transfers at large scales were performed. STEP09 was successfully conducted in June as a joint exercise with ATLAS and the other experiments. It gave good indication about the readiness of the WLCG infrastructure with the two major LHC experiments stressing the reading, writing and processing of physics data. The October Exercise, in contrast, was conducted as an all-CMS exercise, where Physics, Computing and Offline worked on a common plan to exercise all steps to efficiently access and analyze data. As one of the major results, the CMS Tier-2s demonstrated to be fully capable for performing data analysis. In recent weeks, efforts were devoted to CMS Computing readiness. All th...

  8. Trigeminal autonomic cephalgias

    Science.gov (United States)

    2012-01-01

    Summary points 1. Trigeminal autonomic cephalgias (TACs) are headaches/facial pains classified together based on:a suspected common pathophysiology involving the trigeminovascular system, the trigeminoparasympathetic reflex and centres controlling circadian rhythms;a similar clinical presentation of trigeminal pain, and autonomic activation. 2. There is much overlap in the diagnostic features of individual TACs. 3. In contrast, treatment response is relatively specific and aids in establishing a definitive diagnosis. 4. TACs are often presentations of underlying pathology; all patients should be imaged. 5. The aim of the article is to provide the reader with a broad introduction to, and an overview of, TACs. The reading list is extensive for the interested reader. PMID:26516482

  9. Mobile Autonomous Humanoid Assistant

    Science.gov (United States)

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

    2004-01-01

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

  10. Mobile Intelligent Autonomous Systems

    OpenAIRE

    Jitendra R. Raol; Ajith Gopal

    2010-01-01

    Mobile intelligent autonomous systems (MIAS) is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i) perception and reasoning, (ii) mobility and navigation,(iii) haptics and teleoperation, (iv) image fusion/computervision, (v) modelling of manipulators, (vi) hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii) ve...

  11. Nature's Autonomous Oscillators

    Science.gov (United States)

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

    2012-01-01

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

  12. Advanced Autonomous Systems for Space Operations

    Science.gov (United States)

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

    2002-01-01

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

  13. COMPUTING

    CERN Multimedia

    I. Fisk

    2013-01-01

    Computing operation has been lower as the Run 1 samples are completing and smaller samples for upgrades and preparations are ramping up. Much of the computing activity is focusing on preparations for Run 2 and improvements in data access and flexibility of using resources. Operations Office Data processing was slow in the second half of 2013 with only the legacy re-reconstruction pass of 2011 data being processed at the sites.   Figure 1: MC production and processing was more in demand with a peak of over 750 Million GEN-SIM events in a single month.   Figure 2: The transfer system worked reliably and efficiently and transferred on average close to 520 TB per week with peaks at close to 1.2 PB.   Figure 3: The volume of data moved between CMS sites in the last six months   The tape utilisation was a focus for the operation teams with frequent deletion campaigns from deprecated 7 TeV MC GEN-SIM samples to INVALID datasets, which could be cleaned up...

  14. COMPUTING

    CERN Multimedia

    I. Fisk

    2012-01-01

      Introduction Computing activity has been running at a sustained, high rate as we collect data at high luminosity, process simulation, and begin to process the parked data. The system is functional, though a number of improvements are planned during LS1. Many of the changes will impact users, we hope only in positive ways. We are trying to improve the distributed analysis tools as well as the ability to access more data samples more transparently.  Operations Office Figure 2: Number of events per month, for 2012 Since the June CMS Week, Computing Operations teams successfully completed data re-reconstruction passes and finished the CMSSW_53X MC campaign with over three billion events available in AOD format. Recorded data was successfully processed in parallel, exceeding 1.2 billion raw physics events per month for the first time in October 2012 due to the increase in data-parking rate. In parallel, large efforts were dedicated to WMAgent development and integrati...

  15. COMPUTING

    CERN Multimedia

    2010-01-01

    Introduction Just two months after the “LHC First Physics” event of 30th March, the analysis of the O(200) million 7 TeV collision events in CMS accumulated during the first 60 days is well under way. The consistency of the CMS computing model has been confirmed during these first weeks of data taking. This model is based on a hierarchy of use-cases deployed between the different tiers and, in particular, the distribution of RECO data to T1s, who then serve data on request to T2s, along a topology known as “fat tree”. Indeed, during this period this model was further extended by almost full “mesh” commissioning, meaning that RECO data were shipped to T2s whenever possible, enabling additional physics analyses compared with the “fat tree” model. Computing activities at the CMS Analysis Facility (CAF) have been marked by a good time response for a load almost evenly shared between ALCA (Alignment and Calibration tasks - highest p...

  16. COMPUTING

    CERN Multimedia

    Matthias Kasemann

    Overview The main focus during the summer was to handle data coming from the detector and to perform Monte Carlo production. The lessons learned during the CCRC and CSA08 challenges in May were addressed by dedicated PADA campaigns lead by the Integration team. Big improvements were achieved in the stability and reliability of the CMS Tier1 and Tier2 centres by regular and systematic follow-up of faults and errors with the help of the Savannah bug tracking system. In preparation for data taking the roles of a Computing Run Coordinator and regular computing shifts monitoring the services and infrastructure as well as interfacing to the data operations tasks are being defined. The shift plan until the end of 2008 is being put together. User support worked on documentation and organized several training sessions. The ECoM task force delivered the report on “Use Cases for Start-up of pp Data-Taking” with recommendations and a set of tests to be performed for trigger rates much higher than the ...

  17. COMPUTING

    CERN Multimedia

    M. Kasemann

    Introduction A large fraction of the effort was focused during the last period into the preparation and monitoring of the February tests of Common VO Computing Readiness Challenge 08. CCRC08 is being run by the WLCG collaboration in two phases, between the centres and all experiments. The February test is dedicated to functionality tests, while the May challenge will consist of running at all centres and with full workflows. For this first period, a number of functionality checks of the computing power, data repositories and archives as well as network links are planned. This will help assess the reliability of the systems under a variety of loads, and identifying possible bottlenecks. Many tests are scheduled together with other VOs, allowing the full scale stress test. The data rates (writing, accessing and transfer¬ring) are being checked under a variety of loads and operating conditions, as well as the reliability and transfer rates of the links between Tier-0 and Tier-1s. In addition, the capa...

  18. COMPUTING

    CERN Multimedia

    Contributions from I. Fisk

    2012-01-01

    Introduction The start of the 2012 run has been busy for Computing. We have reconstructed, archived, and served a larger sample of new data than in 2011, and we are in the process of producing an even larger new sample of simulations at 8 TeV. The running conditions and system performance are largely what was anticipated in the plan, thanks to the hard work and preparation of many people. Heavy ions Heavy Ions has been actively analysing data and preparing for conferences.  Operations Office Figure 6: Transfers from all sites in the last 90 days For ICHEP and the Upgrade efforts, we needed to produce and process record amounts of MC samples while supporting the very successful data-taking. This was a large burden, especially on the team members. Nevertheless the last three months were very successful and the total output was phenomenal, thanks to our dedicated site admins who keep the sites operational and the computing project members who spend countless hours nursing the...

  19. COMPUTING

    CERN Multimedia

    P. MacBride

    The Computing Software and Analysis Challenge CSA07 has been the main focus of the Computing Project for the past few months. Activities began over the summer with the preparation of the Monte Carlo data sets for the challenge and tests of the new production system at the Tier-0 at CERN. The pre-challenge Monte Carlo production was done in several steps: physics generation, detector simulation, digitization, conversion to RAW format and the samples were run through the High Level Trigger (HLT). The data was then merged into three "Soups": Chowder (ALPGEN), Stew (Filtered Pythia) and Gumbo (Pythia). The challenge officially started when the first Chowder events were reconstructed on the Tier-0 on October 3rd. The data operations teams were very busy during the the challenge period. The MC production teams continued with signal production and processing while the Tier-0 and Tier-1 teams worked on splitting the Soups into Primary Data Sets (PDS), reconstruction and skimming. The storage sys...

  20. COMPUTING

    CERN Multimedia

    I. Fisk

    2011-01-01

    Introduction The Computing Team successfully completed the storage, initial processing, and distribution for analysis of proton-proton data in 2011. There are still a variety of activities ongoing to support winter conference activities and preparations for 2012. Heavy ions The heavy-ion run for 2011 started in early November and has already demonstrated good machine performance and success of some of the more advanced workflows planned for 2011. Data collection will continue until early December. Facilities and Infrastructure Operations Operational and deployment support for WMAgent and WorkQueue+Request Manager components, routinely used in production by Data Operations, are provided. The GlideInWMS and components installation are now deployed at CERN, which is added to the GlideInWMS factory placed in the US. There has been new operational collaboration between the CERN team and the UCSD GlideIn factory operators, covering each others time zones by monitoring/debugging pilot jobs sent from the facto...

  1. Autonomous navigation in a dynamic environment

    Science.gov (United States)

    Davies, Henry C.; Kayaalp, Ali E.; Moezzi, Saied

    1991-03-01

    Navigation of a mobile robot in the presence of dynamic obstacles requires fast data collection routemonitoring and route replanning. A method for route replanning in the presence of dynamic obstacles and an extendible autonomous vehicle navigation architecture based on this method is presented. At the center of our architecture is the Dynamic World Modeling subsystem which maintains an internal representation of the environment. It continuously assimilates time-varying stereo-based range data to build an accurate model of the world. The primary user of this information the Navigator subsystem plans a path for the vehicle to follow and insures that this path remains valid by computing detours when environmental changes block the planned path. A preliminary version of our autonomous navigation system utilizing a near real-time stereo range detection module is operational in our laboratory. It is used to navigate a Denning MIRV-2 mobile platform and executes in a distributed fashion on a network of Sun workstations.

  2. Machine Learning Aided Efficient and Robust Algorithms for Spectrum Knowledge Acquisition in Wideband Autonomous Cognitive Radios

    Science.gov (United States)

    2016-08-01

    WIDEBAND AUTONOMOUS COGNITIVE RADIOS Sudharman Jayaweera Department of Electrical and Computer Engineering University of New Mexico Albuquerque, NM...Knowledge Acquisition in Wideband Autonomous Cognitive Radios 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 63401F 6. AUTHOR(S) 5d. PROJECT NUMBER...will advance the wideband autonomous cognitive radio (WACR) technology. These are radios that have the ability to sense state of the radio frequency

  3. Collaborating with Autonomous Agents

    Science.gov (United States)

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

    2015-01-01

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

  4. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

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

  5. COMPUTING

    CERN Multimedia

    M. Kasemann

    CMS relies on a well functioning, distributed computing infrastructure. The Site Availability Monitoring (SAM) and the Job Robot submission have been very instrumental for site commissioning in order to increase availability of more sites such that they are available to participate in CSA07 and are ready to be used for analysis. The commissioning process has been further developed, including "lessons learned" documentation via the CMS twiki. Recently the visualization, presentation and summarizing of SAM tests for sites has been redesigned, it is now developed by the central ARDA project of WLCG. Work to test the new gLite Workload Management System was performed; a 4 times increase in throughput with respect to LCG Resource Broker is observed. CMS has designed and launched a new-generation traffic load generator called "LoadTest" to commission and to keep exercised all data transfer routes in the CMS PhE-DEx topology. Since mid-February, a transfer volume of about 12 P...

  6. Nemesis Autonomous Test System

    Science.gov (United States)

    Barltrop, Kevin J.; Lee, Cin-Young; Horvath, Gregory A,; Clement, Bradley J.

    2012-01-01

    A generalized framework has been developed for systems validation that can be applied to both traditional and autonomous systems. The framework consists of an automated test case generation and execution system called Nemesis that rapidly and thoroughly identifies flaws or vulnerabilities within a system. By applying genetic optimization and goal-seeking algorithms on the test equipment side, a "war game" is conducted between a system and its complementary nemesis. The end result of the war games is a collection of scenarios that reveals any undesirable behaviors of the system under test. The software provides a reusable framework to evolve test scenarios using genetic algorithms using an operation model of the system under test. It can automatically generate and execute test cases that reveal flaws in behaviorally complex systems. Genetic algorithms focus the exploration of tests on the set of test cases that most effectively reveals the flaws and vulnerabilities of the system under test. It leverages advances in state- and model-based engineering, which are essential in defining the behavior of autonomous systems. It also uses goal networks to describe test scenarios.

  7. Learning for Autonomous Navigation

    Science.gov (United States)

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

    2005-01-01

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

  8. Expanded Perspectives on Autonomous Learners

    Science.gov (United States)

    Oxford, Rebecca L.

    2015-01-01

    This paper explores two general perspectives on autonomous learners: psychological and sociocultural. These perspectives introduce a range of theoretically grounded facets of autonomous learners, facets such as the self-regulated learner, the emotionally intelligent learner, the self-determined learner, the mediated learner, the socioculturally…

  9. Autonomous Systems Developments and Trends

    CERN Document Server

    Kyamaky, Kyandoghere; Kacprzyk, Janusz

    2012-01-01

    The Workshops on Autonomous Systems emanated from a gathering with the doctoral students of just three chairs at Fernuniversität in Hagen, which we organise twice per year for a number of years now. Their purpose is to discuss on-going research and to create a community spirit. Furthermore, they serve as a means of structuring the students' research processes. The workshop has grown and matured in several respects. The doctoral students presenting their work do not come from a single university anymore, but from three. Besides them and their supervisors, also other scientists became interested in the event and contribute to its programme. Following the model of Advanced Study Institutes, they are available on the premises for relaxed, informal discussions outside the formal sessions. Finally, with the co-sponsorship of Gesellschaft für Informatik, the German Computer Society, and this surprisingly comprehensive volume of contributions published by Springer-Verlag the workshop turned into a visible scientifi...

  10. Semi-Autonomous Vehicle Project

    Science.gov (United States)

    Stewart, Christopher

    2016-01-01

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

  11. Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

    The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

  12. PET imaging of the autonomic nervous system.

    Science.gov (United States)

    Thackeray, James T; Bengel, Frank M

    2016-12-01

    The autonomic nervous system is the primary extrinsic control of heart rate and contractility, and is subject to adaptive and maladaptive changes in cardiovascular disease. Consequently, noninvasive assessment of neuronal activity and function is an attractive target for molecular imaging. A myriad of targeted radiotracers have been developed over the last 25 years for imaging various components of the sympathetic and parasympathetic signal cascades. While routine clinical use remains somewhat limited, a number of larger scale studies in recent years have supplied momentum to molecular imaging of autonomic signaling. Specifically, the findings of the ADMIRE HF trial directly led to United States Food and Drug Administration approval of 123I-metaiodobenzylguanidine (MIBG) for Single Photon Emission Computed Tomography (SPECT) assessment of sympathetic neuronal innervation, and comparable results have been reported using the analogous PET agent 11C-meta-hydroxyephedrine (HED). Due to the inherent capacity for dynamic quantification and higher spatial resolution, regional analysis may be better served by PET. In addition, preliminary clinical and extensive preclinical experience has provided a broad foundation of cardiovascular applications for PET imaging of the autonomic nervous system. Recent years have witnessed the growth of novel quantification techniques, expansion of multiple tracer studies, and improved understanding of the uptake of different radiotracers, such that the transitional biology of dysfunctional subcellular catecholamine handling can be distinguished from complete denervation. As a result, sympathetic neuronal molecular imaging is poised to play a role in individualized patient care, by stratifying cardiovascular risk, visualizing underlying biology, and guiding and monitoring therapy.

  13. Evolutionary Autonomous Health Monitoring System (EAHMS) Project

    Data.gov (United States)

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

  14. Research Institute for Autonomous Precision Guided Systems

    National Research Council Canada - National Science Library

    Rogacki, John R

    2007-01-01

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

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

    Science.gov (United States)

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

    2017-12-01

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

  16. Navigation Method for Autonomous Robots in a Dynamic Indoor Environment

    Czech Academy of Sciences Publication Activity Database

    Věchet, Stanislav; Chen, K.-S.; Krejsa, Jiří

    2013-01-01

    Roč. 3, č. 4 (2013), s. 273-277 ISSN 2223-9766 Institutional support: RVO:61388998 Keywords : particle filters * autonomous mobile robot s * mixed potential fields Subject RIV: JD - Computer Applications, Robot ics http://www.ausmt.org/index.php/AUSMT/article/view/214/239

  17. Using a Multicore Processor for Rover Autonomous Science

    Science.gov (United States)

    Bornstein, Benjamin; Estlin, Tara; Clement, Bradley; Springer, Paul

    2011-01-01

    Multicore processing promises to be a critical component of future spacecraft. It provides immense increases in onboard processing power and provides an environment for directly supporting fault-tolerant computing. This paper discusses using a state-of-the-art multicore processor to efficiently perform image analysis onboard a Mars rover in support of autonomous science activities.

  18. Cybersecurity for aerospace autonomous systems

    Science.gov (United States)

    Straub, Jeremy

    2015-05-01

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

  19. Autonomous Navigation Using Celestial Objects

    Science.gov (United States)

    Folta, David; Gramling, Cheryl; Leung, Dominic; Belur, Sheela; Long, Anne

    1999-01-01

    In the twenty-first century, National Aeronautics and Space Administration (NASA) Enterprises envision frequent low-cost missions to explore the solar system, observe the universe, and study our planet. Satellite autonomy is a key technology required to reduce satellite operating costs. The Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center (GSFC) currently sponsors several initiatives associated with the development of advanced spacecraft systems to provide autonomous navigation and control. Autonomous navigation has the potential both to increase spacecraft navigation system performance and to reduce total mission cost. By eliminating the need for routine ground-based orbit determination and special tracking services, autonomous navigation can streamline spacecraft ground systems. Autonomous navigation products can be included in the science telemetry and forwarded directly to the scientific investigators. In addition, autonomous navigation products are available onboard to enable other autonomous capabilities, such as attitude control, maneuver planning and orbit control, and communications signal acquisition. Autonomous navigation is required to support advanced mission concepts such as satellite formation flying. GNCC has successfully developed high-accuracy autonomous navigation systems for near-Earth spacecraft using NASA's space and ground communications systems and the Global Positioning System (GPS). Recently, GNCC has expanded its autonomous navigation initiative to include satellite orbits that are beyond the regime in which use of GPS is possible. Currently, GNCC is assessing the feasibility of using standard spacecraft attitude sensors and communication components to provide autonomous navigation for missions including: libration point, gravity assist, high-Earth, and interplanetary orbits. The concept being evaluated uses a combination of star, Sun, and Earth sensor measurements along with forward-link Doppler

  20. Autonomous flying cameraman with embedded person detection and tracking while applying cinematographic rules

    OpenAIRE

    Hulens, Dries; Goedemé, Toon

    2017-01-01

    Hulens D., Goedemé T., ''Autonomous flying cameraman with embedded person detection and tracking while applying cinematographic rules'', Proceedings 14th conference on computer and robot vision - CRV 2017, 8 pp., May 17-19, 2017, Edmonton, Alberta, Canada.

  1. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

    This SpringerBrief reveals the latest techniques in computer vision and machine learning on robots that are designed as accurate and efficient military snipers. Militaries around the world are investigating this technology to simplify the time, cost and safety measures necessary for training human snipers. These robots are developed by combining crucial aspects of computer science research areas including image processing, robotic kinematics and learning algorithms. The authors explain how a new humanoid robot, the iCub, uses high-speed cameras and computer vision algorithms to track the objec

  2. Cranial Autonomic Symptoms in Migraine

    Directory of Open Access Journals (Sweden)

    J Gordon Millichap

    2009-11-01

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

  3. Autonomic Dysregulation in Multiple Sclerosis

    Directory of Open Access Journals (Sweden)

    Alexandra Pintér

    2015-07-01

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

  4. Framework for Autonomous Optimization Project

    Data.gov (United States)

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

  5. Autonomous Navigation by a Mobile Robot

    Science.gov (United States)

    Huntsberger, Terrance; Aghazarian, Hrand

    2005-01-01

    ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

  6. Autonomic Context-Aware Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Nídia G. S. Campos

    2015-01-01

    Full Text Available Autonomic Computing allows systems like wireless sensor networks (WSN to self-manage computing resources in order to extend their autonomy as much as possible. In addition, contextualization tasks can fuse two or more different sensor data into a more meaningful information. Since these tasks usually run in a single centralized context server (e.g., sink node, the massive volume of data generated by the wireless sensors can lead to a huge information overload in such server. Here we propose DAIM, a distributed autonomic inference machine distributed which allows the sensor nodes to do self-management and contextualization tasks based on fuzzy logic. We have evaluated DAIM in a real sensor network taking into account other inference machines. Experimental results illustrate that DAIM is an energy-efficient contextualization method for WSN, reducing 48.8% of the number of messages sent to the context servers while saving 19.5% of the total amount of energy spent in the network.

  7. Kinodynamic Motion Planning for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Jiwung Choi

    2014-06-01

    Full Text Available This article proposes a computationally effective motion planning algorithm for autonomous ground vehicles operating in a semi-structured environment with a mission specified by waypoints, corridor widths and obstacles. The algorithm switches between two kinds of planners, (i static planners and (ii moving obstacle avoidance manoeuvre planners, depending on the mobility of any detected obstacles. While the first is broken down into a path planner and a controller, the second generates a sequence of controls without global path planning. Each subsystem is implemented as follows. The path planner produces an optimal piecewise linear path by applying a variant of cell decomposition and dynamic programming. The piecewise linear path is smoothed by Bézier curves such that the maximum curvatures of the curves are minimized. The controller calculates the highest allowable velocity profile along the path, consistent with the limits on both tangential and radial acceleration and the steering command for the vehicle to track the trajectory using a pure pursuit method. The moving obstacle avoidance manoeuvre produces a sequence of time-optimal local velocities, by minimizing the cost as determined by the safety of the current velocity against obstacles in the velocity obstacle paradigm and the deviation of the current velocity relative to the desired velocity, to satisfy the waypoint constraint. The algorithms are shown to be robust and computationally efficient, and to demonstrate a viable methodology for autonomous vehicle control in the presence of unknown obstacles.

  8. 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)

    2017-10-04

    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.

  9. Autonomous rotor heat engine

    Science.gov (United States)

    Roulet, Alexandre; Nimmrichter, Stefan; Arrazola, Juan Miguel; Seah, Stella; Scarani, Valerio

    2017-06-01

    The triumph of heat engines is their ability to convert the disordered energy of thermal sources into useful mechanical motion. In recent years, much effort has been devoted to generalizing thermodynamic notions to the quantum regime, partly motivated by the promise of surpassing classical heat engines. Here, we instead adopt a bottom-up approach: we propose a realistic autonomous heat engine that can serve as a test bed for quantum effects in the context of thermodynamics. Our model draws inspiration from actual piston engines and is built from closed-system Hamiltonians and weak bath coupling terms. We analytically derive the performance of the engine in the classical regime via a set of nonlinear Langevin equations. In the quantum case, we perform numerical simulations of the master equation. Finally, we perform a dynamic and thermodynamic analysis of the engine's behavior for several parameter regimes in both the classical and quantum case and find that the latter exhibits a consistently lower efficiency due to additional noise.

  10. Biology-Inspired Autonomous Control

    Science.gov (United States)

    2011-08-31

    AFRL-RW-EG-TR-2011-021 BIOLOGY -INSPIRED AUTONOMOUS CONTROL Multiple Authors – See Table of Contents Appendices Multiple...From - To) (Oct,1,2007)-(May 31,2011) 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER N/A Biology -Inspired Autonomous Control 5b. GRANT NUMBER N...limitations of conventional approaches by applying principles derived from studying the biology of flying organisms. The research was focused on

  11. Compact Autonomous Hemispheric Vision System

    Science.gov (United States)

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

    2012-01-01

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

  12. Active matter logic for autonomous microfluidics

    Science.gov (United States)

    Woodhouse, Francis G.; Dunkel, Jörn

    2017-04-01

    Chemically or optically powered active matter plays an increasingly important role in materials design, but its computational potential has yet to be explored systematically. The competition between energy consumption and dissipation imposes stringent physical constraints on the information transport in active flow networks, facilitating global optimization strategies that are not well understood. Here, we combine insights from recent microbial experiments with concepts from lattice-field theory and non-equilibrium statistical mechanics to introduce a generic theoretical framework for active matter logic. Highlighting conceptual differences with classical and quantum computation, we demonstrate how the inherent non-locality of incompressible active flow networks can be utilized to construct universal logical operations, Fredkin gates and memory storage in set-reset latches through the synchronized self-organization of many individual network components. Our work lays the conceptual foundation for developing autonomous microfluidic transport devices driven by bacterial fluids, active liquid crystals or chemically engineered motile colloids.

  13. Developing Autonomic and Secure Virtual Organisations with Chemical Programming

    Science.gov (United States)

    Arenas, Alvaro E.; Banâtre, Jean-Pierre; Priol, Thierry

    This paper studies the development of autonomic and secure Virtual Organisations (VOs) when following the chemical-programming paradigm. We have selected the Higher-Order Chemical Language (HOCL) as the representative of the chemical paradigm, due mainly to its generality, its implicit autonomic property, and its potential application to emerging computing paragidms such as Grid computing and service computing. We have advocated the use of aspect-oriented techniques, where autonomicity and security can be seen as cross-cutting concerns impacting the whole system. We show how HOCL can be used to model VOs, exemplified by a VO system for the generation of digital products. We develop patterns for HOCL, including patterns for traditional security properties such as authorisation and secure logs, as well as autonomic properties such as self-protection and self-healing. The patterns are applied to HOCL programs following an aspect-oriented approach, where aspects are modelled as transformation functions that add to a program a cross-cutting concern.

  14. Autonomous Byte Stream Randomizer

    Science.gov (United States)

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

    2013-01-01

    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.

  15. Autonomous mobile robot for radiologic surveys

    Science.gov (United States)

    Dudar, Aed M.; Wagner, David G.; Teese, Gregory D.

    1994-01-01

    An apparatus for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm.

  16. Enabling technologies for the prassi autonomous robot

    Energy Technology Data Exchange (ETDEWEB)

    Taraglio, S.; Nanni, V. [ENEA, Robotics and Information Technology Division, Rome (Italy)

    2001-07-01

    In this book are summarised some of the results of the PRASSI project as presented by the different partners of the effort. PRASSI is an acronym which stands for Autonomous Robotic Platform for the Security and Surveillance of plants, the Italian for it is 'Piattaforma Robotica per la Sorveglianza e Sicurezza d'Impianto'. This project has been funded by the Italian Ministry for the Education, the University and the Research (MIUR) in the framework of the project High Performance Computing Applied to Robotics (Calcolo Parallelo con Applicazioni alla Robotica) of the law 95/1995. The idea behind such an initiative is that of fostering the knowledge and possibly the use of high performance computing in the research and industrial community. In other words, robotic scientists are always simplifying their algorithms or using particular approaches (e.g. soft computing) in order to use standard processors for difficult sensorial data processing; well, what if an embedded parallel computer were available, with at least one magnitude more of computing power?.

  17. Compact autonomous navigation system (CANS)

    Science.gov (United States)

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

    2017-11-01

    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].

  18. A Model-Driven Architecture Approach for Modeling, Specifying and Deploying Policies in Autonomous and Autonomic Systems

    Science.gov (United States)

    Pena, Joaquin; Hinchey, Michael G.; Sterritt, Roy; Ruiz-Cortes, Antonio; Resinas, Manuel

    2006-01-01

    Autonomic Computing (AC), self-management based on high level guidance from humans, is increasingly gaining momentum as the way forward in designing reliable systems that hide complexity and conquer IT management costs. Effectively, AC may be viewed as Policy-Based Self-Management. The Model Driven Architecture (MDA) approach focuses on building models that can be transformed into code in an automatic manner. In this paper, we look at ways to implement Policy-Based Self-Management by means of models that can be converted to code using transformations that follow the MDA philosophy. We propose a set of UML-based models to specify autonomic and autonomous features along with the necessary procedures, based on modification and composition of models, to deploy a policy as an executing system.

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

    Data.gov (United States)

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

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

    Science.gov (United States)

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

    2013-09-01

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

  1. Autonomous Landing on Moving Platforms

    KAUST Repository

    Mendoza Chavez, Gilberto

    2016-08-01

    This thesis investigates autonomous landing of a micro air vehicle (MAV) on a nonstationary ground platform. Unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs) are becoming every day more ubiquitous. Nonetheless, many applications still require specialized human pilots or supervisors. Current research is focusing on augmenting the scope of tasks that these vehicles are able to accomplish autonomously. Precise autonomous landing on moving platforms is essential for self-deployment and recovery of MAVs, but it remains a challenging task for both autonomous and piloted vehicles. Model Predictive Control (MPC) is a widely used and effective scheme to control constrained systems. One of its variants, output-feedback tube-based MPC, ensures robust stability for systems with bounded disturbances under system state reconstruction. This thesis proposes a MAV control strategy based on this variant of MPC to perform rapid and precise autonomous landing on moving targets whose nominal (uncommitted) trajectory and velocity are slowly varying. The proposed approach is demonstrated on an experimental setup.

  2. Trigeminal autonomic cephalalgias: a review

    Directory of Open Access Journals (Sweden)

    Michał Modestowicz

    2016-12-01

    Full Text Available Trigeminal autonomic cephalalgias are a group of primary headache disorders presenting as unilateral pain in the somatic distribution of the trigeminal nerve, associated with ipsilateral cranial autonomic symptoms. This clinicopathologic group includes cluster headache, paroxysmal hemicrania, hemicrania continua and short-lasting unilateral neuralgiform headache attacks with conjunctival injection and tearing/cranial autonomic features, which differ mainly as regards the duration and frequency of pain as well as response to treatment. These disorders are not as rare as they were thought to be and due to the severity of the pain can substantially affect the patients’ quality of life. Many other forms of primary headaches, such as migraine, trigeminal neuralgia and primary stabbing headache, as well as secondary headaches, particularly those caused by pituitary, posterior fossa, orbital, paranasal sinus and vascular pathology, need to be carefully considered in the diagnosis of trigeminal autonomic cephalalgias. Research in this field, particularly using functional neuroimaging, has resulted in a much better understanding of these disorders. Dysfunction in the nociceptive modulatory pathways in brain’s pain matrix is currently thought to produce a permissive state for the occurrence of a trigeminal autonomic cephalalgia attack, with posterior hypothalamus serving as a terminator rather than the generator of the attack. The current treatment strategies include medical and surgical approaches; of the latter, neuromodulation techniques, particularly deep brain stimulation of posterior hypothalamus, have proven to be particularly effective and promising.

  3. Autonomous Mobile Robots.

    Science.gov (United States)

    1986-01-30

    10 million year cousins. Chimps and gorillas can learn to use tools and to communicate in human sign languages at a retarded level. Chimps have one...third, and gorillas one half, human brainsize. 0 Animals exhibiting near-human behavior have hundred billion neuron nervous systems. Imaging vision...kind of pocket computer (perhaps shaped and worn like glasses ) is programmed with the universals of human mentality, with your genetic makeup and with

  4. The Bering Autonomous Target Detection

    DEFF Research Database (Denmark)

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

    2003-01-01

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

  5. Quantum Behavior of an Autonomous Maxwell Demon

    Science.gov (United States)

    Chapman, Adrian; Miyake, Akimasa

    2015-03-01

    A Maxwell Demon is an agent that can exploit knowledge of a system's microstate to perform useful work. The second law of thermodynamics is only recovered upon taking into account the work required to irreversibly update the demon's memory, bringing information theoretic concepts into a thermodynamic framework. Recently, there has been interest in modeling a classical Maxwell demon as an autonomous physical system to study this information-work tradeoff explicitly. Motivated by the idea that states with non-local entanglement structure can be used as a computational resource, we ask whether these states have thermodynamic resource quality as well by generalizing a particular classical autonomous Maxwell demon to the quantum regime. We treat the full quantum description using a matrix product operator formalism, which allows us to handle quantum and classical correlations in a unified framework. Applying this, together with techniques from statistical mechanics, we are able to approximate nonlocal quantities such as the erasure performed on the demon's memory register when correlations are present. Finally, we examine how the demon may use these correlations as a resource to outperform its classical counterpart.

  6. A New 3D Autonomous Continuous System with Two Isolated Chaotic Attractors and Its Topological Horseshoes

    Directory of Open Access Journals (Sweden)

    Ping Zhou

    2017-01-01

    Full Text Available Based on the 3D autonomous continuous Lü chaotic system, a new 3D autonomous continuous chaotic system is proposed in this paper, and there are coexisting chaotic attractors in the 3D autonomous continuous chaotic system. Moreover, there are no overlaps between the coexisting chaotic attractors; that is, there are two isolated chaotic attractors (in this paper, named “positive attractor” and “negative attractor,” resp.. The “positive attractor” and “negative attractor” depend on the distance between the initial points (initial conditions and the unstable equilibrium points. Furthermore, by means of topological horseshoes theory and numerical computation, the topological horseshoes in this 3D autonomous continuous system is found, and the topological entropy is obtained. These results indicate that the chaotic attractor emerges in the new 3D autonomous continuous system.

  7. Autonomic Dysfunctions in Parkinsonian Disorders

    Directory of Open Access Journals (Sweden)

    Hyo-Jin Bae

    2009-10-01

    Full Text Available Background and Purpose: Symptoms of autonomic dysfunctions are common in the patients with parkinsonian disorders. Because clinical features of autonomic dysfunctions are diverse, the comprehensive evaluation is essential for the appropriate management. For the appreciation of autonomic dysfunctions and the identification of differences, patients with degenerative parkinsonisms are evaluated using structured questionnaire for autonomic dysfunction (ADQ. Methods: Total 259 patients, including 192 patients with [idiopathic Parkinson’s disease (IPD, age 64.6 ± 9.6 years], 37 with [multiple system atrophy (MSA, 62.8 ± 9.1], 9 with [dementia with Lewy body (DLB, 73.9 ± 4.3], and 21 with [progressive supranuclear palsy (PSP, 69.4 ± 9.6]. The ADQ was structured for evaluation of the presence of symptoms and its severity due to autonomic dysfunction, covering gastrointestinal, urinary, sexual, cardiovascular and thermoregulatory domains. Patients were also evaluated for the orthostatic hypotension. Results: Although dementia with Lewy body (DLB patients were oldest and duration of disease was longest in IPD, total ADQ scores of MSA and PSP (23.9 ± 12.6 and 21.1 ± 7.8 were significantly increased than that of IPD (15.1 ± 10.6. Urinary and cardiovascular symptom scores of MSA and gastrointestinal symptom score of PSP were significantly worse than those of IPD. The ratio of patient with orthostatic hypotension in IPD was 31.2% and not differed between groups (35.1% in MSA, 33.3% in DLB and 33.3% in PSP. But the systolic blood pressure dropped drastically after standing in patients with MSA and DLB than in patients with IPD and PSP. Conclusions: Patients with degenerative parkinsonism showed widespread symptoms of autonomic dysfunctions. The severity of those symptoms in patients with PSP were comparing to that of MSA patients and worse than that of IPD.

  8. Autonomic Regulation of Splanchnic Circulation

    Directory of Open Access Journals (Sweden)

    Kathleen A Fraser

    1991-01-01

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

  9. Gas House Autonomous System Monitoring

    Science.gov (United States)

    Miller, Luke; Edsall, Ashley

    2015-01-01

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

  10. Advances in Autonomous Systems for Missions of Space Exploration

    Science.gov (United States)

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

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

  11. Connected and autonomous vehicles 2040 vision.

    Science.gov (United States)

    2014-07-01

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

  12. Energy homeostasis, autonomic activity and obesity

    NARCIS (Netherlands)

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

    1995-01-01

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

  13. A Generic Architecture for Autonomous Uninhabited Vehicles

    Science.gov (United States)

    2007-11-01

    armament procurement agency DGA has been working on autonomy projects for several years. One is devoted to the development of an autonomous system for...existing decision architectures implemented onboard autonomous vehicles: centralised architectures based on Artificial Intelligence (Blackboards

  14. Autonomous Rule Creation for Intrusion Detection

    Energy Technology Data Exchange (ETDEWEB)

    Todd Vollmer; Jim Alves-Foss; Milos Manic

    2011-04-01

    Many computational intelligence techniques for anomaly based network intrusion detection can be found in literature. Translating a newly discovered intrusion recognition criteria into a distributable rule can be a human intensive effort. This paper explores a multi-modal genetic algorithm solution for autonomous rule creation. This algorithm focuses on the process of creating rules once an intrusion has been identified, rather than the evolution of rules to provide a solution for intrusion detection. The algorithm was demonstrated on anomalous ICMP network packets (input) and Snort rules (output of the algorithm). Output rules were sorted according to a fitness value and any duplicates were removed. The experimental results on ten test cases demonstrated a 100 percent rule alert rate. Out of 33,804 test packets 3 produced false positives. Each test case produced a minimum of three rule variations that could be used as candidates for a production system.

  15. Objective speckle velocimetry for autonomous vehicle odometry.

    Science.gov (United States)

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

    2012-06-01

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

  16. Hazard Map for Autonomous Navigation

    DEFF Research Database (Denmark)

    Riis, Troels

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

  17. Objects as Temporary Autonomous Zones

    Directory of Open Access Journals (Sweden)

    Tim Morton

    2011-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Tianhong Yan

    2011-11-01

    Full Text Available This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM, and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China. Weak links in the information matrix in an extended information filter (EIF can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM. All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

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

    Science.gov (United States)

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

    2011-01-01

    This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

  20. Research and development of Ro-boat: an autonomous river cleaning robot

    Science.gov (United States)

    Sinha, Aakash; Bhardwaj, Prashant; Vaibhav, Bipul; Mohommad, Noor

    2013-12-01

    Ro-Boat is an autonomous river cleaning intelligent robot incorporating mechanical design and computer vision algorithm to achieve autonomous river cleaning and provide a sustainable environment. Ro-boat is designed in a modular fashion with design details such as mechanical structural design, hydrodynamic design and vibrational analysis. It is incorporated with a stable mechanical system with air and water propulsion, robotic arms and solar energy source and it is proceed to become autonomous by using computer vision. Both "HSV Color Space" and "SURF" are proposed to use for measurements in Kalman Filter resulting in extremely robust pollutant tracking. The system has been tested with successful results in the Yamuna River in New Delhi. We foresee that a system of Ro-boats working autonomously 24x7 can clean a major river in a city on about six months time, which is unmatched by alternative methods of river cleaning.

  1. Blunted autonomic response in cluster headache patients

    DEFF Research Database (Denmark)

    Barloese, Mads; Brinth, Louise; Mehlsen, Jesper

    2015-01-01

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

  2. Fuzzy Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation

    Science.gov (United States)

    Tunstel, Edward

    2000-01-01

    This paper describes fuzzy logic techniques used in a hierarchical behavior-based architecture for robot navigation. An architectural feature for threshold activation of fuzzy-behaviors is emphasized, which is potentially useful for tuning navigation performance in real world applications. The target application is autonomous local navigation of a small planetary rover. Threshold activation of low-level navigation behaviors is the primary focus. A preliminary assessment of its impact on local navigation performance is provided based on computer simulations.

  3. See and avoidance behaviors for autonomous navigation

    Science.gov (United States)

    Lee, Dah-Jye; Beard, Randal W.; Merrell, Paul C.; Zhan, Pengcheng

    2004-12-01

    Recent advances in many multi-discipline technologies have allowed small, low-cost fixed wing unmanned air vehicles (UAV) or more complicated unmanned ground vehicles (UGV) to be a feasible solution in many scientific, civil and military applications. Cameras can be mounted on-board of the unmanned vehicles for the purpose of scientific data gathering, surveillance for law enforcement and homeland security, as well as to provide visual information to detect and avoid imminent collisions for autonomous navigation. However, most current computer vision algorithms are highly complex computationally and usually constitute the bottleneck of the guidance and control loop. In this paper, we present a novel computer vision algorithm for collision detection and time-to-impact calculation based on feature density distribution (FDD) analysis. It does not require accurate feature extraction, tracking, or estimation of focus of expansion (FOE). Under a few reasonable assumptions, by calculating the expansion rate of the FDD in space, time-to-impact can be accurately estimated. A sequence of monocular images is studied, and different features are used simultaneously in FDD analysis to show that our algorithm can achieve a fairly good accuracy in collision detection. In this paper we also discuss reactive path planning and trajectory generation techniques that can be accomplished without violating the velocity and heading rate constraints of the UAV.

  4. Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles

    Science.gov (United States)

    Brockers, Roland; Ma, Jeremy C.; Matthies, Larry H.; Bouffard, Patrick

    2012-01-01

    Micro aerial vehicles have limited sensor suites and computational power. For reconnaissance tasks and to conserve energy, these systems need the ability to autonomously land at vantage points or enter buildings (ingress). But for autonomous navigation, information is needed to identify and guide the vehicle to the target. Vision algorithms can provide egomotion estimation and target detection using input from cameras that are easy to include in miniature systems.

  5. [Impact of aggressive assigment performance on the autonomic nervous systems in adolescents].

    Science.gov (United States)

    Grigorian, V G; Stepanian, L S; Stepanian, A Iu; Agababian, A R

    2006-01-01

    Impact of aggressive assignment performance on cardiac rhythm was studied in adolescents, by taking into account permanent aggressiveness and autonomic tendency in the examinees. The adolescents with high baseline aggressiveness were found to have a lower Kerdo autonomic index while the latter was not observed in those with low baseline aggressiveness. Aggressive computer games have been ascertained to have no negative impact and to have a beneficial effect on the adolescents' psychoemotional sphere.

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

    Science.gov (United States)

    Wehner, Walter S., Jr.

    2013-01-01

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

  7. Autonomous Navigation with Constrained Consistency for C-Ranger

    Directory of Open Access Journals (Sweden)

    Shujing Zhang

    2014-06-01

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

  8. Insights into the background of autonomic medicine.

    Science.gov (United States)

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

    2017-10-01

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

  9. Health, autonomic financing and transferences

    Directory of Open Access Journals (Sweden)

    David Cantarero Prieto

    2002-01-01

    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.

  10. Chaotic neurodynamics for autonomous agents.

    Science.gov (United States)

    Harter, Derek; Kozma, Robert

    2005-05-01

    Mesoscopic level neurodynamics study the collective dynamical behavior of neural populations. Such models are becoming increasingly important in understanding large-scale brain processes. Brains exhibit aperiodic oscillations with a much more rich dynamical behavior than fixed-point and limit-cycle approximation allow. Here we present a discretized model inspired by Freeman's K-set mesoscopic level population model. We show that this version is capable of replicating the important principles of aperiodic/chaotic neurodynamics while being fast enough for use in real-time autonomous agent applications. This simplification of the K model provides many advantages not only in terms of efficiency but in simplicity and its ability to be analyzed in terms of its dynamical properties. We study the discrete version using a multilayer, highly recurrent model of the neural architecture of perceptual brain areas. We use this architecture to develop example action selection mechanisms in an autonomous agent.

  11. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

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

  12. Cardiovascular autonomic neuropathy in diabetes

    DEFF Research Database (Denmark)

    Spallone, Vincenza; Ziegler, Dan; Freeman, Roy

    2011-01-01

    Cardiovascular Autonomic Neuropathy (CAN) Subcommittee of Toronto Consensus Panel on Diabetic Neuropathy worked to update CAN guidelines, with regard to epidemiology, clinical impact, diagnosis, usefulness of CAN testing, and management. CAN is the impairment of cardiovascular autonomic control...... in type 2 diabetes. CAN is a risk marker of mortality and cardiovascular morbidity, and possibly a progression promoter of diabetic nephropathy. Criteria for CAN diagnosis and staging are: 1. one abnormal cardio-vagal test identifies possible or early CAN; 2. at least two abnormal cardio-vagal tests....... diagnosis of CAN clinical forms, 2. detection and tailored treatment of CAN clinical correlates (e.g. tachycardia, OH, nondipping, QT interval prolongation), 3. risk stratification for diabetic complications and cardiovascular morbidity and mortality, and 4. modulation of targets of diabetes therapy...

  13. Evolutionary autonomous agents and the nature of apraxia

    Directory of Open Access Journals (Sweden)

    Jin Frank

    2005-01-01

    Full Text Available Abstract Background Evolutionary autonomous agents are robots or robot simulations whose controller is a dynamical neural network and whose evolution occurs autonomously under the guidance of a fitness function without the detailed or explicit direction of an external programmer. They are embodied agents with a simple neural network controller and as such they provide the optimal forum by which sensorimotor interactions in a specified environment can be studied without the computational assumptions inherent in standard neuroscience. Methods Evolutionary autonomous agents were evolved that were able to perform identical movements under two different contexts, one which represented an automatic movement and one which had a symbolic context. In an attempt to model the automatic-voluntary dissociation frequently seen in ideomotor apraxia, lesions were introduced into the neural network controllers resulting in a behavioral dissociation with loss of the ability to perform the movement which had a symbolic context and preservation of the simpler, automatic movement. Results Analysis of the changes in the hierarchical organization of the networks in the apractic EAAs demonstrated consistent changes in the network dynamics across all agents with loss of longer duration time scales in the network dynamics. Conclusion The concepts of determinate motor programs and perceptual representations that are implicit in the present day understanding of ideomotor apraxia are assumptions inherent in the computational understanding of brain function. The strength of the present study using EAAs to model one aspect of ideomotor apraxia is the absence of these assumptions and a grounding of all sensorimotor interactions in an embodied, autonomous agent. The consistency of the hierarchical changes in the network dynamics across all apractic agents demonstrates that this technique is tenable and will be a valuable adjunct to a computational formalism in the understanding

  14. Towards Co-Engineering Communicating Autonomous Cyber-Physical Systems

    Science.gov (United States)

    Bujorianu, Marius C.; Bujorianu, Manuela L.

    2009-01-01

    In this paper, we sketch a framework for interdisciplinary modeling of space systems, by proposing a holistic view. We consider different system dimensions and their interaction. Specifically, we study the interactions between computation, physics, communication, uncertainty and autonomy. The most comprehensive computational paradigm that supports a holistic perspective on autonomous space systems is given by cyber-physical systems. For these, the state of art consists of collaborating multi-engineering efforts that prompt for an adequate formal foundation. To achieve this, we propose a leveraging of the traditional content of formal modeling by a co-engineering process.

  15. Advancing Autonomous Structural Health Monitoring

    OpenAIRE

    Grisso, Benjamin Luke

    2007-01-01

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

  16. Evaluating Autonomous Ground-Robots

    Science.gov (United States)

    2012-06-14

    the paths taken by the multiple robots . The outer dimensions of the maze are about 25m x 25m. At the level of resolution shown in the main image...square meters). The system was also used to track the robots through the plywood walls of the maze , achieving similar accuracies. The system could not...Evaluating Autonomous Ground- Robots Anthony Finn 1 , Adam Jacoff 2 , Mike Del Rose 3 , Bob Kania 3 , Udam Silva 4 and Jon Bornstein 5

  17. Searching with an Autonomous Robot

    OpenAIRE

    Fekete, Sándor; Klein, Rolf; Nüchter, Andreas

    2005-01-01

    We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is capable of identifying objects like a chair. We derive a prac...

  18. Autonomous Adaptive Acoustic Relay Positioning

    Science.gov (United States)

    2013-09-01

    and Brooks Reed. An autonomous kayak takes many people to launch and it has been an equally collaborative experience at Hovergroup. Finally, I thank my...present at the MIT Sailing Pavilion and a fixed desti- nation node is another kayak station-keeping across the river. . . . . . 24 2-1 Illustration of multi... Kayaks Components and Dimensions . . . . . . . . . . . 71 B.2 Micro-Modem Transmission Rates . . . . . . . . . . . . . . . . . . . . 72 15 16 Chapter 1

  19. Autonomic neuropathy in diabetes mellitus

    Directory of Open Access Journals (Sweden)

    Alberto eVerrotti

    2014-12-01

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

  20. Semi autonomous mine detection system

    Energy Technology Data Exchange (ETDEWEB)

    Douglas Few; Roelof Versteeg; Herman Herman

    2010-04-01

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

  1. Photonic Microhand with Autonomous Action.

    Science.gov (United States)

    Martella, Daniele; Nocentini, Sara; Nuzhdin, Dmitry; Parmeggiani, Camilla; Wiersma, Diederik S

    2017-11-01

    Grabbing and holding objects at the microscale is a complex function, even for microscopic living animals. Inspired by the hominid-type hand, a microscopic equivalent able to catch microelements is engineered. This microhand is light sensitive and can be either remotely controlled by optical illumination or can act autonomously and grab small particles on the basis of their optical properties. Since the energy is delivered optically, without the need for wires or batteries, the artificial hand can be shrunk down to the micrometer scale. Soft material is used, in particular, a custom-made liquid-crystal network that is patterned by a photolithographic technique. The elastic reshaping properties of this material allow finger movement, using environmental light as the only energy source. The hand can be either controlled externally (via the light field), or else the conditions in which it autonomously grabs a particle in its vicinity can be created. This microrobot has the unique feature that it can distinguish between particles of different colors and gray levels. The realization of this autonomous hand constitutes a crucial element in the development of microscopic creatures that can perform tasks without human intervention and self-organized automation at the micrometer scale. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  2. Autonomic neural functions in space.

    Science.gov (United States)

    Mano, T

    2005-08-01

    Autonomic neural functions are important to regulate vital functions in the living body. There are different methods to evaluate indirectly and directly autonomic, sympathetic and parasympathetic, neural functions of human body. Among various methods, microneurography is a technique to evaluate directly sympathetic neural functions in humans. Using this technique sympathetic neural traffic leading to skeletal muscles (muscle sympathetic nerve activity; MSNA) can be recorded from human peripheral nerves in situ. MSNA plays essentially important roles to maintain blood pressure homeostasis against gravity. Orthostatic intolerance is an important problem as an autonomic dysfunction encountered after exposure of human beings to microgravity. There exist at least two different types of sympathetic neural responses, low and high responders to orthostatic stress in orthostatic hypotension seen in neurological disorders. To answer the question if post-spaceflight orthostatic intolerance is induced by low or high MSNA responses to orthostatic stress, MSNA was microneurographically recorded for the first time before, during and after spaceflight in 1998 under Neurolab international research project. The same activity has been recorded during and/or after ground-based short- and long-term simulations of microgravity. MSNA was rather enhanced on the 12(th) and 13(th) day of spaceflight and just after landing day. Postflight MSNA response to head-up tilt was well preserved in astronauts who were orthostatically well tolerant. MSNA was suppressed during short-term simulation of microgravity less than 2 hours but was enhanced after long-term simulation of microgravity more than 3 days. Orthostatic intolerance after exposure to long-term simulation of microgravity was associated with reduced MSNA response to orthostatic stress with impaired baroreflex functions. These findings obtained from MSNA recordings in subjects exposed to space as well as short- and long-term simulations of

  3. A Briefing on Metrics and Risks for Autonomous Decision-Making in Aerospace Applications

    Science.gov (United States)

    Frost, Susan; Goebel, Kai Frank; Galvan, Jose Ramon

    2012-01-01

    Significant technology advances will enable future aerospace systems to safely and reliably make decisions autonomously, or without human interaction. The decision-making may result in actions that enable an aircraft or spacecraft in an off-nominal state or with slightly degraded components to achieve mission performance and safety goals while reducing or avoiding damage to the aircraft or spacecraft. Some key technology enablers for autonomous decision-making include: a continuous state awareness through the maturation of the prognostics health management field, novel sensor development, and the considerable gains made in computation power and data processing bandwidth versus system size. Sophisticated algorithms and physics based models coupled with these technological advances allow reliable assessment of a system, subsystem, or components. Decisions that balance mission objectives and constraints with remaining useful life predictions can be made autonomously to maintain safety requirements, optimal performance, and ensure mission objectives. This autonomous approach to decision-making will come with new risks and benefits, some of which will be examined in this paper. To start, an account of previous work to categorize or quantify autonomy in aerospace systems will be presented. In addition, a survey of perceived risks in autonomous decision-making in the context of piloted aircraft and remotely piloted or completely autonomous unmanned autonomous systems (UAS) will be presented based on interviews that were conducted with individuals from industry, academia, and government.

  4. Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer

    Science.gov (United States)

    Shrading, Nicholas J.

    2012-01-01

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

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

    Science.gov (United States)

    Schrading, J. Nicolas

    2013-01-01

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

  6. Computational reproducibility of "Goal relevance and goal conduciveness appraisals lead to differential autonomic reactivity in emotional responding to performance feedback" (Kreibig, Gendolla, & Scherer, 2012): A guide and new evidence.

    Science.gov (United States)

    Kreibig, Sylvia D

    2017-09-01

    The emerging field of the psychophysiology of motivation bears many new findings, but little replication. Using my own data (Kreibig, Gendolla, & Scherer, 2012), I test the reproducibility of this specific study, provide the necessary materials to make the study reproducible, and instantiate proper reproducibility practices that other researchers can use as a road map toward the same goal. In addition, based on re-analyses of the original data, I report new evidence for the motivational effects of emotional responding to performance feedback. Specifically, greater appraisal of goal relevance amplifies the emotional response to events appraised as conducive (i.e., effort mobilization), but not to those appraised as obstructive to a person's goals (i.e., effort withdrawal). I conclude by providing a ten-step road map of best practices to facilitate computational reproducibility for future studies. Copyright © 2017 Elsevier B.V. All rights reserved.

  7. Reconfigurable On-Board Vision Processing for Small Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    James K. Archibald

    2006-12-01

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

  8. Reconfigurable On-Board Vision Processing for Small Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Fife WadeS

    2007-01-01

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

  9. Development of an Autonomous Vehicle for Weed and Crop Registration

    DEFF Research Database (Denmark)

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

    the free height of the vehicle being developed in this work has been set to 0.5 m. The size and weight of the vehicle implies a power consumption of max 1.5 kW making electrical motors suitable for propulsion and steering. To make the operation affordable the vehicle should be unmanned requiring a high......The extension of information technology and computers on farming tools results in new possibilities for crop/weed handling. In this paper a system using an autonomous field robot (vehicle) able to make images in the field is described. In the recent farming has come to rely on intensive use...... degree of autonomy. The vehicle is part of an autonomous information system for crop and weed registration in fields which is developed at Aalborg University and The Danish Institute of Agricultural Science. The system consists of the vehicle and a stationary base station as well as a wireless...

  10. Visual Odometry for Autonomous Deep-Space Navigation

    Science.gov (United States)

    Robinson, Shane; Pedrotty, Sam

    2016-01-01

    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.

  11. 10th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Mondada, Francesco; Correll, Nikolaus; Mermoud, Grégory; Egerstedt, Magnus; Hsieh, M; Parker, Lynne; Støy, Kasper

    2013-01-01

    Distributed robotics is a rapidly growing, interdisciplinary research area lying at the intersection of computer science, communication and control systems, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 43 original contributions presented at the Tenth International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), which was held in November 2010 at the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. The selected papers in this volume are authored by leading researchers from Asia, Australia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into four parts, each representing one critical and long-term research thru...

  12. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

    Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot com...

  13. Design of an autonomous Lunar construction utility vehicle

    Science.gov (United States)

    Ash, Robert L.; Chew, Mason; Dixon, Iain (Editor)

    1990-01-01

    In order to prepare a site for a manned lunar base, an autonomously operated construction vehicle is necessary. A Lunar Construction Utility Vehicle (LCUV), which utilizes interchangeable construction implements, was designed conceptually. Some elements of the machine were studied in greater detail. Design of an elastic loop track system has advanced to the testing stage. A standard coupling device was designed to insure a proper connection between the different construction tools and the LCUV. Autonomous control of the track drive motors was simulated successfully through the use of a joystick and computer interface. A study of hydrogen-oxygen fuel cells has produced estimates of reactant and product size requirements and identified multi-layer insulation techniques. Research on a 100 kW heat rejection system has determined that it is necessary to house a radiator panel on a utility trailer. The impact of a 720 hr use cycle has produced a very large logistical support lien which requires further study.

  14. Design of an autonomous lunar construction utility vehicle

    Science.gov (United States)

    1990-01-01

    In order to prepare a site for a lunar base, an autonomously operated construction vehicle is necessary. Discussed here is a Lunar Construction Utility Vehicle (LCUV), which uses interchangeable construction implements. Design of an elastic loop track system has advanced to the testing stage. A standard coupling device has been designed to insure a proper connection between the different construction tools and the LCUV. Autonomous control of the track drive motors was simulated successfully through the use of a joystick and a computer interface. A study of hydrogen-oxygen fuel cells produced estimates of reactant and product requirements and identified multilayer insulation needs. Research on the 100-kW heat rejection system determined that it is necessary to transport the radiator panel on a utility trailer. Extensive logistical support for the 720 hour use cycle requires further study.

  15. Intelligent systems in space : the EO-1 Autonomous Sciencecraft

    Science.gov (United States)

    Sherwood, Robert L.; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Davies, Ashley; Rabideau, Gregg

    2005-01-01

    The Autonomous Sciencecraft Software (ASE) is currently flying onboard the Earth Observing One (EO-1) Spacecraft. This software enables the spacecraft to autonomously detect and respond to science events occurring on the Earth. The package includes software systems that perform science data analysis, deliberative planning, and runtime robust execution. Because of the deployment to the EO-1 spacecraft, the ASE software has stringent constraints of autonomy and limited computing resources. We describe these constraints and how they are reflected in our operations approach. A summary of the final results of the experiment is also included. This software has demonstrated the potential for space missions to use onboard decision-making to detect, analyze, and respond to science events, and to downlink only the highest value science data. As a result, ground-based mission planning and analysis functions have been greatly simplified, thus reducing operations cost.

  16. Vision Based Autonomous Robot Navigation Algorithms and Implementations

    CERN Document Server

    Chatterjee, Amitava; Nirmal Singh, N

    2013-01-01

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

  17. Cardiac Autonomic Function Is Associated With the Coronary Microcirculatory Function in Patients With Type 2 Diabetes

    DEFF Research Database (Denmark)

    von Scholten, Bernt Johan; Hansen, Christian Stevns; Hasbak, Philip

    2016-01-01

    ). In a cross-sectional design, coronary flow reserve (CFR) assessed by cardiac (82)Rb-positron emission tomography/computed tomography, cardiac autonomic reflex tests, and heart rate variability indices were performed in 55 patients with T2DM, without cardiovascular disease, and in 28 control subjects. Cardiac......Cardiac autonomic dysfunction and cardiac microvascular dysfunction are diabetic complications associated with increased mortality, but the association between these has been difficult to assess. We applied new and sensitive methods to assess this in patients with type 2 diabetes mellitus (T2DM....... The late heart-to- mediastinum ratio remained correlated with CFR after further adjustment. In patients with T2DM without cardiovascular disease, we demonstrate an independent association between cardiac autonomic function and CFR. We suggest that a reduced cardiac autonomic function and damage...

  18. Analysis of Filtering Methods for Satellite Autonomous Orbit Determination Using Celestial and Geomagnetic Measurement

    Directory of Open Access Journals (Sweden)

    Xiaolin Ning

    2012-01-01

    Full Text Available Satellite autonomous orbit determination (OD is a complex process using filtering method to integrate observation and orbit dynamic equations effectively and estimate the position and velocity of a satellite. Therefore, the filtering method plays an important role in autonomous orbit determination accuracy and time consumption. Extended Kalman filter (EKF, unscented Kalman filter (UKF, and unscented particle filter (UPF are three widely used filtering methods in satellite autonomous OD, owing to the nonlinearity of satellite orbit dynamic model. The performance of the system based on these three methods is analyzed under different conditions. Simulations show that, under the same condition, the UPF provides the highest OD accuracy but requires the highest computation burden. Conclusions drawn by this study are useful in the design and analysis of autonomous orbit determination system of satellites.

  19. GPS Enabled Semi-Autonomous Robot

    Science.gov (United States)

    2017-09-01

    AUTONOMOUS ROBOT by Connor F. Bench September 2017 Thesis Advisor: Xiaoping Yun Second Reader: James Calusdian THIS PAGE INTENTIONALLY...AND SUBTITLE GPS ENABLED SEMI-AUTONOMOUS ROBOT 5. FUNDING NUMBERS 6. AUTHOR(S) Connor F. Bench 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES...objective of this research is to integrate GPS and local sensory data to allow a robot to operate semi-autonomously outside of a laboratory environment

  20. The treatment of autonomic dysfunction in tetanus

    Directory of Open Access Journals (Sweden)

    T van den Heever

    2017-07-01

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

  1. Attainability of Carnot efficiency with autonomous engines.

    Science.gov (United States)

    Shiraishi, Naoto

    2015-11-01

    The maximum efficiency of autonomous engines with a finite chemical potential difference is investigated. We show that, without a particular type of singularity, autonomous engines cannot attain the Carnot efficiency. This singularity is realized in two ways: single particle transports and the thermodynamic limit. We demonstrate that both of these ways actually lead to the Carnot efficiency in concrete setups. Our results clearly illustrate that the singularity plays a crucial role in the maximum efficiency of autonomous engines.

  2. Autonomous Duffing-Holmes Type Chaotic Oscillator

    DEFF Research Database (Denmark)

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

    2009-01-01

    We have designed and built a novel Duffing type autonomous 3rd-order chaotic oscillator. In comparison with the common non-autonomous DuffingHolmes type oscillator the autonomous circuit has an internal positive feedback loop instead of an external periodic drive source. In addition......, it is supplemented with an RC inertial damping loop providing negative feedback. The circuit has been investigated both numerically and experimentally....

  3. Self-Adapting Reactive Autonomous Agents

    Science.gov (United States)

    Andrecut, M.; Ali, M. K.

    This paper describes a new self-adapting control algorithm for reactive autonomous agents. The architecture of the autonomous agents integrates the reactive behavior with reinforcement learning. We show how these components perform on-line adaptation of the autonomous agents to various complex navigation situations by constructing an internal model of the environment. Also, a discussion on cooperation and coordination of teams of agents is presented.

  4. System safety analysis of an autonomous mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Bartos, R.J.

    1994-08-01

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate{trademark} robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA{copyright}) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection.

  5. Comparison of three control methods for an autonomous vehicle

    Science.gov (United States)

    Deshpande, Anup; Mathur, Kovid; Hall, Ernest

    2010-01-01

    The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate this research- a study for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. Computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program using WSDK (Windows Servo Design Kit) as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++. The voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety by removing human error in control of a motor vehicle.

  6. AUTONOMOUS DETECTION AND TRACKING OF AN OBJECT AUTONOMOUSLY USING AR.DRONE QUADCOPTER

    Directory of Open Access Journals (Sweden)

    Futuhal Arifin

    2014-08-01

    Full Text Available Abstract Nowadays, there are many robotic applications being developed to do tasks autonomously without any interactions or commands from human. Therefore, developing a system which enables a robot to do surveillance such as detection and tracking of a moving object will lead us to more advanced tasks carried out by robots in the future. AR.Drone is a flying robot platform that is able to take role as UAV (Unmanned Aerial Vehicle. Usage of computer vision algorithm such as Hough Transform makes it possible for such system to be implemented on AR.Drone. In this research, the developed algorithm is able to detect and track an object with certain shape and color. Then the algorithm is successfully implemented on AR.Drone quadcopter for detection and tracking.

  7. Public Health, Ethics, and Autonomous Vehicles.

    Science.gov (United States)

    Fleetwood, Janet

    2017-04-01

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

  8. Autonomous Electrical Vehicles’ Charging Station

    Directory of Open Access Journals (Sweden)

    Józef Paska

    2016-09-01

    Full Text Available This paper presents a model of an autonomous electrical vehicles’ charging station. It consists of renewable energy sources: wind turbine system, photovoltaic cells, as well as an energy storage, load, and EV charging station. In order to optimise the operating conditions, power electronic converters were added to the system. The model was implemented in the Homer Energy programme. The first part of the paper presents the design assumptions and technological solutions. Further in the paper simulation results are discussed and analysed, and then problems observed in the simulation and possible solutions.

  9. Autonomously managed electrical power systems

    Science.gov (United States)

    Callis, Charles P.

    1986-01-01

    The electric power systems for future spacecraft such as the Space Station will necessarily be more sophisticated and will exhibit more nearly autonomous operation than earlier spacecraft. These new power systems will be more reliable and flexible than their predecessors offering greater utility to the users. Automation approaches implemented on various power system breadboards are investigated. These breadboards include the Hubble Space Telescope power system test bed, the Common Module Power Management and Distribution system breadboard, the Autonomusly Managed Power System (AMPS) breadboard, and the 20 kilohertz power system breadboard. Particular attention is given to the AMPS breadboard. Future plans for these breadboards including the employment of artificial intelligence techniques are addressed.

  10. Topological entropy of autonomous flows

    Energy Technology Data Exchange (ETDEWEB)

    Badii, R. [Paul Scherrer Inst. (PSI), Villigen (Switzerland)

    1997-06-01

    When studying fluid dynamics, especially in a turbulent regime, it is crucial to estimate the number of active degrees of freedom or of localized structures in the system. The topological entropy quantifies the exponential growth of the number of `distinct` orbits in a dynamical system as a function of their length, in the infinite spatial resolution limit. Here, I illustrate a novel method for its evaluation, which extends beyond maps and is applicable to any system, including autonomous flows: these are characterized by lack of a definite absolute time scale for the orbit lengths. (author) 8 refs.

  11. The Autonomous Pathogen Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Dzenitis, J M; Makarewicz, A J

    2009-01-13

    We developed, tested, and now operate a civilian biological defense capability that continuously monitors the air for biological threat agents. The Autonomous Pathogen Detection System (APDS) collects, prepares, reads, analyzes, and reports results of multiplexed immunoassays and multiplexed PCR assays using Luminex{copyright} xMAP technology and flow cytometer. The mission we conduct is particularly demanding: continuous monitoring, multiple threat agents, high sensitivity, challenging environments, and ultimately extremely low false positive rates. Here, we introduce the mission requirements and metrics, show the system engineering and analysis framework, and describe the progress to date including early development and current status.

  12. Knowledge acquisition for autonomous systems

    Science.gov (United States)

    Lum, Henry; Heer, Ewald

    1988-01-01

    Knowledge-based capabilities for autonomous aerospace systems, such as the NASA Space Station, must encompass conflict-resolution functions comparable to those of human operators, with all elements of the system working toward system goals in a concurrent, asynchronous-but-coordinated fashion. Knowledge extracted from a design database will support robotic systems by furnishing geometric, structural, and causal descriptions required for repair, disassembly, and assembly. The factual knowledge for these databases will be obtained from a master database through a technical management information system, and it will in many cases have to be augmented by domain-specific heuristic knowledge acquired from domain experts.

  13. Autonomous Real Time Requirements Tracing

    Science.gov (United States)

    Plattsmier, George; Stetson, Howard

    2014-01-01

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

  14. Autonomous Control of Space Nuclear Reactors

    Science.gov (United States)

    Merk, John

    2013-01-01

    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

  15. Development of an autonomous target tracking system

    Science.gov (United States)

    Gidda, Venkata Ramaiah

    In recent years, surveillance and border patrol have become one of the key research areas in UAV research. Increase in the computational capability of the computers and embedded electronics, coupled with compatibility of various commercial vision algorithms and commercial off the shelf (COTS) embedded electronics, and has further fuelled the research. The basic task in these applications is perception of environment through the available visual sensors like camera. Visual tracking, as the name implies, is tracking of objects using a camera. The process of autonomous target tracking starts with the selection of the target in a sequence of video frames transmitted from the on-board camera. We use an improved fast dynamic template matching algorithm coupled with Kalman Filter to track the selected target in consecutive video frames. The selected target is saved as a reference template. On the ground station computer, the reference template is overlaid on the live streaming video from the on-board system, starting from the upper left corner of the video frame. The template is slid pixel by pixel over the entire source image. A comparison of the pixels is performed between the template and source image. A confidence value R of the match is calculated at each pixel. Based on the method used to perform the template matching, the best match pixel location is found according to the highest or lowest confidence value R. The best match pixel location is communicated to the on-board gimbal controller over the wireless Xbee network. The software on the controller actuates the pan-tilt servos to continuously to hold the selected target at the center of the video frame. The complete system is a portable control system assembled from commercial off the shelf parts. The tracking system is tested on a target having several motion patterns.

  16. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja

    2012-07-01

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

  17. Autonomous Lawnmower using FPGA implementation.

    Science.gov (United States)

    Ahmad, Nabihah; Lokman, Nabill bin; Helmy Abd Wahab, Mohd

    2016-11-01

    Nowadays, there are various types of robot have been invented for multiple purposes. The robots have the special characteristic that surpass the human ability and could operate in extreme environment which human cannot endure. In this paper, an autonomous robot is built to imitate the characteristic of a human cutting grass. A Field Programmable Gate Array (FPGA) is used to control the movements where all data and information would be processed. Very High Speed Integrated Circuit (VHSIC) Hardware Description Language (VHDL) is used to describe the hardware using Quartus II software. This robot has the ability of avoiding obstacle using ultrasonic sensor. This robot used two DC motors for its movement. It could include moving forward, backward, and turning left and right. The movement or the path of the automatic lawn mower is based on a path planning technique. Four Global Positioning System (GPS) plot are set to create a boundary. This to ensure that the lawn mower operates within the area given by user. Every action of the lawn mower is controlled by the FPGA DE' Board Cyclone II with the help of the sensor. Furthermore, Sketch Up software was used to design the structure of the lawn mower. The autonomous lawn mower was able to operate efficiently and smoothly return to coordinated paths after passing the obstacle. It uses 25% of total pins available on the board and 31% of total Digital Signal Processing (DSP) blocks.

  18. Multi-agent autonomous system

    Science.gov (United States)

    Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

    2010-01-01

    A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

  19. A mission planner for an autonomous tractor

    DEFF Research Database (Denmark)

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

    2009-01-01

    In this article, a mission planner of field coverage operations for an autonomous agricultural tractor is presented. Missions for a particular autonomous tractor are defined using an XML (extendible markup language) formatted file that can be uploaded to the tractor through the user interface...

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-02-01

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

  1. Safe and Autonomous Drones for Urban Flight

    Science.gov (United States)

    Krishnakumar, Kalmanje

    2016-01-01

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

  2. DEGAS: A Database of Autonomous Objects

    NARCIS (Netherlands)

    J.F.P. van den Akker; A.P.J.M. Siebes (Arno)

    1997-01-01

    textabstractIn this paper we introduce DEGAS (Dynamic Entities Get Autonomous Status), an active temporal data model based on autonomous objects. The natural combination of active and temporal databases is discussed. The active dimension of DEGAS means that we define the behaviour of objects in

  3. Autonomous Control of Space Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-11-30

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

  4. An autonomous weeding robot for organic farming

    NARCIS (Netherlands)

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

    2006-01-01

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

  5. Technologies for highly miniaturized autonomous sensor networks

    NARCIS (Netherlands)

    Baert, K.; Gyselinckx, B.; Torfs, T.; Leonov, V.; Yazicioglu, F.; Brebels, S.; Donnay, S.; Vanfleteren, J.; Beyne, E.; Hoof, C. van

    2006-01-01

    Recent results of the autonomous sensor research program HUMAN++ will be summarized in this paper. The research program aims to achieve highly miniaturized and (nearly) autonomous sensor systems that assist our health and comfort. Although the application examples are dedicated to human

  6. Embodied cognition for autonomous interactive robots.

    Science.gov (United States)

    Hoffman, Guy

    2012-10-01

    In the past, notions of embodiment have been applied to robotics mainly in the realm of very simple robots, and supporting low-level mechanisms such as dynamics and navigation. In contrast, most human-like, interactive, and socially adept robotic systems turn away from embodiment and use amodal, symbolic, and modular approaches to cognition and interaction. At the same time, recent research in Embodied Cognition (EC) is spanning an increasing number of complex cognitive processes, including language, nonverbal communication, learning, and social behavior. This article suggests adopting a modern EC approach for autonomous robots interacting with humans. In particular, we present three core principles from EC that may be applicable to such robots: (a) modal perceptual representation, (b) action/perception and action/cognition integration, and (c) a simulation-based model of top-down perceptual biasing. We describe a computational framework based on these principles, and its implementation on two physical robots. This could provide a new paradigm for embodied human-robot interaction based on recent psychological and neurological findings. Copyright © 2012 Cognitive Science Society, Inc.

  7. Curiosity's Autonomous Surface Safing Behavior Design

    Science.gov (United States)

    Neilson, Tracy A.; Manning, Robert M.

    2013-01-01

    The safing routines on all robotic deep-space vehicles are designed to put the vehicle in a power and thermally safe configuration, enabling communication with the mission operators on Earth. Achieving this goal is made a little more difficult on Curiosity because the power requirements for the core avionics and the telecommunication equipment exceed the capability of the single power source, the Multi-Mission Radioisotope Thermoelectric Generator. This drove the system design to create an operational mode, called "sleep mode", where the vehicle turns off most of the loads in order to charge the two Li-ion batteries. The system must keep the vehicle safe from over-heat and under-heat conditions, battery cell failures, under-voltage conditions, and clock failures, both while the computer is running and while the system is sleeping. The other goal of a safing routine is to communicate. On most spacecraft, this simply involves turning on the receiver and transmitter continuously. For Curiosity, Earth is above the horizon only a part of the day for direct communication to the Earth, and the orbiter overpass opportunities only occur a few times a day. The design must robustly place the Rover in a communicable condition at the correct time. This paper discusses Curiosity's autonomous safing behavior and describes how the vehicle remains power and thermally safe while sleeping, as well as a description of how the Rover communicates with the orbiters and Earth at specific times.

  8. Autonomic dysfunction in cirrhosis and portal hypertension

    DEFF Research Database (Denmark)

    Dümcke, Christine Winkler; Møller, Søren

    2008-01-01

    Liver cirrhosis and portal hypertension are frequently associated with signs of circulatory dysfunction and peripheral polyneuropathy, which includes defects of the autonomic nervous system. Autonomic dysfunction, which is seen in both alcoholic and non-alcoholic liver cirrhosis and increases wit...... liver disease. A description is given of its aetiology and the typical circulatory dysfunction with characteristic hyperdynamic and hyporeactive circulation and heart failure, and the most important tests of the autonomic nervous system.......Liver cirrhosis and portal hypertension are frequently associated with signs of circulatory dysfunction and peripheral polyneuropathy, which includes defects of the autonomic nervous system. Autonomic dysfunction, which is seen in both alcoholic and non-alcoholic liver cirrhosis and increases...

  9. Advanced pattern-matching techniques for autonomous acquisition

    Science.gov (United States)

    Narendra, P. M.; Westover, B. L.

    1981-01-01

    The key objective of this effort is the development of pattern-matching algorithms which can impart autonomous acquisition capability to precision-guided munitions such as Copperhead and Hellfire. Autonomous acquisition through pattern matching holds the promise of eliminating laser designation and enhancing fire power by multiple target prioritization. The pattern-matching approach being developed under this program is based on a symbolic pattern-matching framework, which is suited for the autonomous acquisition scenario. It is based on matching a symbolic representation derived from the two images, and it can accommodate the stringent pattern-matchine criteria established by the scenario: enormous differences in the scene perspective, aspect and range between the two sensors, differences in sensor characteristics and illumination, and scene changes such as target motion and obscuration from one view point ot the other. This report contains a description of an efficient branch-and-bound technique for symbolic pattern matching. Also presented are the results of applying a simulation of the algorithm to pairs of FLIR images of military vehicles in cluttered environments as well as pairs of images from different sensors (FLIR and silicon TV). The computational requirements are analyzed toward real-time implementation, and avenues of future work are recommended.

  10. Current challenges in autonomous driving

    Science.gov (United States)

    Barabás, I.; Todoruţ, A.; Cordoş, N.; Molea, A.

    2017-10-01

    Nowadays the automotive industry makes a quantum shift to a future, where the driver will have smaller and smaller role in driving his or her vehicle ending up being totally excluded. In this paper, we have investigated the different levels of driving automatization, the prospective effects of these new technologies on the environment and traffic safety, the importance of regulations and their current state, the moral aspects of introducing these technologies and the possible scenarios of deploying the autonomous vehicles. We have found that the self-driving technologies are facing many challenges: a) They must make decisions faster in very diverse conditions which can include many moral dilemmas as well; b) They have an important potential in reducing the environmental pollution by optimizing their routes, driving styles by communicating with other vehicles, infrastructures and their environment; c) There is a considerable gap between the self-drive technology level and the current regulations; fortunately, this gap shows a continuously decreasing trend; d) In case of many types of imminent accidents management there are many concerns about the ability of making the right decision. Considering that this field has an extraordinary speed of development, our study is up to date at the submission deadline. Self-driving technologies become increasingly sophisticated and technically accessible, and in some cases, they can be deployed for commercial vehicles as well. According to the current stage of research and development, it is still unclear how the self-driving technologies will be able to handle extreme and unexpected events including their moral aspects. Since most of the traffic accidents are caused by human error or omission, it is expected that the emergence of the autonomous technologies will reduce these accidents in their number and gravity, but the very few currently available test results have not been able to scientifically underpin this issue yet. The

  11. Autonomous entropy-based intelligent experimental design

    Science.gov (United States)

    Malakar, Nabin Kumar

    2011-07-01

    The aim of this thesis is to explore the application of probability and information theory in experimental design, and to do so in a way that combines what we know about inference and inquiry in a comprehensive and consistent manner. Present day scientific frontiers involve data collection at an ever-increasing rate. This requires that we find a way to collect the most relevant data in an automated fashion. By following the logic of the scientific method, we couple an inference engine with an inquiry engine to automate the iterative process of scientific learning. The inference engine involves Bayesian machine learning techniques to estimate model parameters based upon both prior information and previously collected data, while the inquiry engine implements data-driven exploration. By choosing an experiment whose distribution of expected results has the maximum entropy, the inquiry engine selects the experiment that maximizes the expected information gain. The coupled inference and inquiry engines constitute an autonomous learning method for scientific exploration. We apply it to a robotic arm to demonstrate the efficacy of the method. Optimizing inquiry involves searching for an experiment that promises, on average, to be maximally informative. If the set of potential experiments is described by many parameters, the search involves a high-dimensional entropy space. In such cases, a brute force search method will be slow and computationally expensive. We develop an entropy-based search algorithm, called nested entropy sampling, to select the most informative experiment. This helps to reduce the number of computations necessary to find the optimal experiment. We also extended the method of maximizing entropy, and developed a method of maximizing joint entropy so that it could be used as a principle of collaboration between two robots. This is a major achievement of this thesis, as it allows the information-based collaboration between two robotic units towards a same

  12. Autonomous Evolution of Complete Piano Pieces and Performances

    DEFF Research Database (Denmark)

    Dahlstedt, Palle

    2007-01-01

    Evolutionary algorithms are used to evolve musical score material and corresponding performance data, in an autonomous process. In this way complete piano compositions are created and subsequently performed on a computer-controlled grand piano. The efficiency of the creative evolution depends...... gestures. This is combined with a set of automated formalized selection criteria based on experiences from human selection processes in a previous, interactive version of the same system, leading to surprisingly musical output and convincing performances. The system is also capable of rudimentary learning......, through recycling of its own musical output, and an accumulated database of human musical input....

  13. Wireless autonomous device data transmission

    Science.gov (United States)

    Sammel, Jr., David W. (Inventor); Cain, James T. (Inventor); Mickle, Marlin H. (Inventor); Mi, Minhong (Inventor)

    2013-01-01

    A method of communicating information from a wireless autonomous device (WAD) to a base station. The WAD has a data element having a predetermined profile having a total number of sequenced possible data element combinations. The method includes receiving at the WAD an RF profile transmitted by the base station that includes a triggering portion having a number of pulses, wherein the number is at least equal to the total number of possible data element combinations. The method further includes keeping a count of received pulses and wirelessly transmitting a piece of data, preferably one bit, to the base station when the count reaches a value equal to the stored data element's particular number in the sequence. Finally, the method includes receiving the piece of data at the base station and using the receipt thereof to determine which of the possible data element combinations the stored data element is.

  14. Autonomic cardiac nerves: literature review.

    Science.gov (United States)

    Kuder, T; Nowak, E

    2015-01-01

    The aim of this paper was to summarise the knowledge about the autonomic cardiac innervation. It is generally known, that the cardiac nervous system consists of nerve plexoganglionic structures located mostly around the strategic regions of the heart. They consist of two main types of components: parasympathetic neurons, which exert an inhibitory effect, and sympathetic postganglionic nerve fibres, which stimulate the cardiac conduction system, and myocardial cells. However, many authors describe that cardiac ganglia contain various populations of neurons. The largest group are classical cholinergic neurons. The second group of cardiac neurons are cells of dual, cholinergic-adrenergic character. There is also subpopulation of small intensely fluoroscent cells of typically adrenergic phenotype. Moreover, many authors indicated the presence of various neurotransmitters in various combinations. In this way, the neurons in cardiac ganglia are a neurochemical complex beyond the classical vision of parasympathetic ganglia.

  15. APDS: Autonomous Pathogen Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Langlois, R G; Brown, S; Burris, L; Colston, B; Jones, L; Makarewicz, T; Mariella, R; Masquelier, D; McBride, M; Milanovich, F; Masarabadi, S; Venkateswaran, K; Marshall, G; Olson, D; Wolcott, D

    2002-02-14

    An early warning system to counter bioterrorism, the Autonomous Pathogen Detection System (APDS) continuously monitors the environment for the presence of biological pathogens (e.g., anthrax) and once detected, it sounds an alarm much like a smoke detector warns of a fire. Long before September 11, 2001, this system was being developed to protect domestic venues and events including performing arts centers, mass transit systems, major sporting and entertainment events, and other high profile situations in which the public is at risk of becoming a target of bioterrorist attacks. Customizing off-the-shelf components and developing new components, a multidisciplinary team developed APDS, a stand-alone system for rapid, continuous monitoring of multiple airborne biological threat agents in the environment. The completely automated APDS samples the air, prepares fluid samples in-line, and performs two orthogonal tests: immunoassay and nucleic acid detection. When compared to competing technologies, APDS is unprecedented in terms of flexibility and system performance.

  16. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

    Full Text Available There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. AUVs can comprehensive survey because the vehicle does not have to be connected to the support vessel by tether cable. When such underwater vehicles are made, it is necessary to consider about the following things. 1 Seawater and Water Pressure Environment, 2 Sink, 3 There are no Gas or Battery Charge Stations, 4 Global Positioning System cannot use, 5 Radio waves cannot use. In the paper, outline of above and how deal about it are explained.

  17. Autonomous Infrastructure for Observatory Operations

    Science.gov (United States)

    Seaman, R.

    This is an era of rapid change from ancient human-mediated modes of astronomical practice to a vision of ever larger time domain surveys, ever bigger "big data", to increasing numbers of robotic telescopes and astronomical automation on every mountaintop. Over the past decades, facets of a new autonomous astronomical toolkit have been prototyped and deployed in support of numerous space missions. Remote and queue observing modes have gained significant market share on the ground. Archives and data-mining are becoming ubiquitous; astroinformatic techniques and virtual observatory standards and protocols are areas of active development. Astronomers and engineers, planetary and solar scientists, and researchers from communities as diverse as particle physics and exobiology are collaborating on a vast range of "multi-messenger" science. What then is missing?

  18. Autonomous Negotiating Teams and Model-Integrated Computing for Autonomic Logistics

    Science.gov (United States)

    2005-02-01

    tasks, such as moving targets. To achieve this, systems need to be built that can operate effectively in highly decentralized environments, making...communicate effectively with local peers, and also with information and command concentrators at higher levels of situation abstraction. They need to...changed our approach and decided to rely on a constraint programming system (called MOZART ) based on the Oz language. The system supports concurrent

  19. Efficient computation of argumentation semantics

    CERN Document Server

    Liao, Beishui

    2013-01-01

    Efficient Computation of Argumentation Semantics addresses argumentation semantics and systems, introducing readers to cutting-edge decomposition methods that drive increasingly efficient logic computation in AI and intelligent systems. Such complex and distributed systems are increasingly used in the automation and transportation systems field, and particularly autonomous systems, as well as more generic intelligent computation research. The Series in Intelligent Systems publishes titles that cover state-of-the-art knowledge and the latest advances in research and development in intelligen

  20. Radar based autonomous sensor module

    Science.gov (United States)

    Styles, Tim

    2016-10-01

    Most surveillance systems combine camera sensors with other detection sensors that trigger an alert to a human operator when an object is detected. The detection sensors typically require careful installation and configuration for each application and there is a significant burden on the operator to react to each alert by viewing camera video feeds. A demonstration system known as Sensing for Asset Protection with Integrated Electronic Networked Technology (SAPIENT) has been developed to address these issues using Autonomous Sensor Modules (ASM) and a central High Level Decision Making Module (HLDMM) that can fuse the detections from multiple sensors. This paper describes the 24 GHz radar based ASM, which provides an all-weather, low power and license exempt solution to the problem of wide area surveillance. The radar module autonomously configures itself in response to tasks provided by the HLDMM, steering the transmit beam and setting range resolution and power levels for optimum performance. The results show the detection and classification performance for pedestrians and vehicles in an area of interest, which can be modified by the HLDMM without physical adjustment. The module uses range-Doppler processing for reliable detection of moving objects and combines Radar Cross Section and micro-Doppler characteristics for object classification. Objects are classified as pedestrian or vehicle, with vehicle sub classes based on size. Detections are reported only if the object is detected in a task coverage area and it is classified as an object of interest. The system was shown in a perimeter protection scenario using multiple radar ASMs, laser scanners, thermal cameras and visible band cameras. This combination of sensors enabled the HLDMM to generate reliable alerts with improved discrimination of objects and behaviours of interest.

  1. Autonomous caregiver following robotic wheelchair

    Science.gov (United States)

    Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary

    2011-12-01

    In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

  2. Demonstration of Self-Training Autonomous Neural Networks in Space Vehicle Docking Simulations

    Science.gov (United States)

    Patrick, M. Clinton; Thaler, Stephen L.; Stevenson-Chavis, Katherine

    2006-01-01

    Neural Networks have been under examination for decades in many areas of research, with varying degrees of success and acceptance. Key goals of computer learning, rapid problem solution, and automatic adaptation have been elusive at best. This paper summarizes efforts at NASA's Marshall Space Flight Center harnessing such technology to autonomous space vehicle docking for the purpose of evaluating applicability to future missions.

  3. Autonomous lecture recording with a PTZ camera while complying with cinematographic rules

    OpenAIRE

    Hulens, Dries; Rumes, Tom; Goedemé, Toon

    2014-01-01

    Hulens D., Rumes T., Goedemé T., ''Autonomous lecture recording with a PTZ camera while complying with cinematographic rules'', Proceedings CRV 2014 - the conference on computer and robot vision, pp. 371-377, May 7-9, 2014, Montréal, Québec, Canada.

  4. Measurements on an autonomous wireless payload at 635 km distance using a sensitive radio telescope

    NARCIS (Netherlands)

    Bentum, Marinus Jan; Leijtens, Johan; Verhoeven, Chris; van der Marel, Hans

    2011-01-01

    The Delfi-C3 spacecraft carries the first autonomous wireless payload in space. This payload is a wireless sun sensor developed by TNO in the Netherlands. The data captured by the sensor is wirelessly transported to the central computer system inside the spacecraft. Since no additional power supply

  5. Autonomous motivation, controlled motivation, and goal progress.

    Science.gov (United States)

    Koestner, Richard; Otis, Nancy; Powers, Theodore A; Pelletier, Luc; Gagnon, Hugo

    2008-10-01

    Although the self-concordance of goals has been repeatedly shown to predict better goal progress, recent research suggests potential problems with aggregating autonomous and controlled motivations to form a summary index of self-concordance (Judge, Bono, Erez, & Locke, 2005). The purpose of the present investigation was to further examine the relations among autonomous motivation, controlled motivation, and goal progress to determine the relative importance of autonomous motivation and controlled motivation in the pursuit of personal goals. The results of three studies and a meta-analysis indicated that autonomous motivation was substantially related to goal progress whereas controlled motivation was not. Additionally, the relation of autonomous motivation to goal progress was shown to involve implementation planning. Together, the three studies highlight the importance for goal setters of having autonomous motivation and developing implementation plans, especially ones formulated in terms of approach strategies rather than avoidance strategies. The present research suggests that individuals pursuing goals should focus relatively greater attention on enhancing their autonomous motivation rather than reducing their controlled motivation.

  6. PHM Enabled Autonomous Propellant Loading Operations

    Science.gov (United States)

    Walker, Mark; Figueroa, Fernando

    2017-01-01

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

  7. Irresponsibilities, inequalities and injustice for autonomous vehicles

    DEFF Research Database (Denmark)

    Liu, Hin-Yan

    2017-01-01

    With their prospect for causing both novel and known forms of damage, harm and injury, the issue of responsibility has been a recurring theme in the debate concerning autonomous vehicles. Yet, the discussion of responsibility has obscured the finer details both between the underlying concepts...... of responsibility. Two different approaches are offered to the question of responsibility and autonomous vehicles: targeting and risk distribution. The article then introduces a thought experiment which situates autonomous vehicles within the context of crash optimisation impulses and coordinated or networked...

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

    Science.gov (United States)

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

    1994-01-01

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

  9. FPGA implementation of vision algorithms for small autonomous robots

    Science.gov (United States)

    Anderson, J. D.; Lee, D. J.; Archibald, J. K.

    2005-10-01

    The use of on-board vision with small autonomous robots has been made possible by the advances in the field of Field Programmable Gate Array (FPGA) technology. By connecting a CMOS camera to an FPGA board, on-board vision has been used to reduce the computation time inherent in vision algorithms. The FPGA board allows the user to create custom hardware in a faster, safer, and more easily verifiable manner that decreases the computation time and allows the vision to be done in real-time. Real-time vision tasks for small autonomous robots include object tracking, obstacle detection and avoidance, and path planning. Competitions were created to demonstrate that our algorithms work with our small autonomous vehicles in dealing with these problems. These competitions include Mouse-Trapped-in-a-Box, where the robot has to detect the edges of a box that it is trapped in and move towards them without touching them; Obstacle Avoidance, where an obstacle is placed at any arbitrary point in front of the robot and the robot has to navigate itself around the obstacle; Canyon Following, where the robot has to move to the center of a canyon and follow the canyon walls trying to stay in the center; the Grand Challenge, where the robot had to navigate a hallway and return to its original position in a given amount of time; and Stereo Vision, where a separate robot had to catch tennis balls launched from an air powered cannon. Teams competed on each of these competitions that were designed for a graduate-level robotic vision class, and each team had to develop their own algorithm and hardware components. This paper discusses one team's approach to each of these problems.

  10. Autonomic Dysfunction in Patients with Mild to Moderate Alzheimer's Disease

    DEFF Research Database (Denmark)

    Jensen-Dahm, Christina; Waldemar, Gunhild; Staehelin Jensen, Troels

    2015-01-01

    BACKGROUND: Autonomic function has received little attention in Alzheimer's disease (AD). AD pathology has an impact on brain regions which are important for central autonomic control, but it is unclear if AD is associated with disturbance of autonomic function. OBJECTIVE: To investigate autonomic...

  11. The social dilemma of autonomous vehicles

    National Research Council Canada - National Science Library

    Bonnefon, Jean-François; Shariff, Azim; Rahwan, Iyad

    2016-01-01

    Autonomous vehicles (AVs) should reduce traffic accidents, but they will sometimes have to choose between two evils, such as running over pedestrians or sacrificing themselves and their passenger to save the pedestrians...

  12. The evitability of autonomous robot warfare

    National Research Council Canada - National Science Library

    Noel E Sharkey

    2012-01-01

    .... This article will first point out the three main international humanitarian law (IHL)/ethical issues with armed autonomous robots and then move on to discuss a major stumbling block to their evitability...

  13. A Primer on Autonomous Aerial Vehicle Design.

    Science.gov (United States)

    Coppejans, Hugo H G; Myburgh, Herman C

    2015-12-02

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

  14. Acupuncture Effect and Central Autonomic Regulation

    Directory of Open Access Journals (Sweden)

    Qian-Qian Li

    2013-01-01

    Full Text Available Acupuncture is a therapeutic technique and part of traditional Chinese medicine (TCM. Acupuncture has clinical efficacy on various autonomic nerve-related disorders, such as cardiovascular diseases, epilepsy, anxiety and nervousness, circadian rhythm disorders, polycystic ovary syndrome (PCOS and subfertility. An increasing number of studies have demonstrated that acupuncture can control autonomic nerve system (ANS functions including blood pressure, pupil size, skin conductance, skin temperature, muscle sympathetic nerve activities, heart rate and/or pulse rate, and heart rate variability. Emerging evidence indicates that acupuncture treatment not only activates distinct brain regions in different kinds of diseases caused by imbalance between the sympathetic and parasympathetic activities, but also modulates adaptive neurotransmitter in related brain regions to alleviate autonomic response. This review focused on the central mechanism of acupuncture in modulating various autonomic responses, which might provide neurobiological foundations for acupuncture effects.

  15. Acupuncture effect and central autonomic regulation.

    Science.gov (United States)

    Li, Qian-Qian; Shi, Guang-Xia; Xu, Qian; Wang, Jing; Liu, Cun-Zhi; Wang, Lin-Peng

    2013-01-01

    Acupuncture is a therapeutic technique and part of traditional Chinese medicine (TCM). Acupuncture has clinical efficacy on various autonomic nerve-related disorders, such as cardiovascular diseases, epilepsy, anxiety and nervousness, circadian rhythm disorders, polycystic ovary syndrome (PCOS) and subfertility. An increasing number of studies have demonstrated that acupuncture can control autonomic nerve system (ANS) functions including blood pressure, pupil size, skin conductance, skin temperature, muscle sympathetic nerve activities, heart rate and/or pulse rate, and heart rate variability. Emerging evidence indicates that acupuncture treatment not only activates distinct brain regions in different kinds of diseases caused by imbalance between the sympathetic and parasympathetic activities, but also modulates adaptive neurotransmitter in related brain regions to alleviate autonomic response. This review focused on the central mechanism of acupuncture in modulating various autonomic responses, which might provide neurobiological foundations for acupuncture effects.

  16. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

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

  17. AGATE: Autonomous Go and Touch Exploration Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The innovation (AGATE, for Autonomous Go And Touch Exploration) will enable single-sol "go and touch" instrument placement from distances of up to five meters for...

  18. Overview of the Autonomic Nervous System

    Science.gov (United States)

    ... tears) Urination Defecation Sexual response Many organs are controlled primarily by either the sympathetic or the parasympathetic ... help relieve some symptoms of autonomic disorders: Orthostatic hypotension: People are advised to elevate the head of ...

  19. A Primer on Autonomous Aerial Vehicle Design

    Directory of Open Access Journals (Sweden)

    Hugo H. G. Coppejans

    2015-12-01

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

  20. Advisory and autonomous cooperative driving systems

    NARCIS (Netherlands)

    Broek, T.H.A. van den; Ploeg, J.; Netten, B.D.

    2011-01-01

    In this paper, the traffic efficiency of an advisory cooperative driving system, Advisory Acceleration Control is examined and compared to the efficiency of an autonomous cooperative driving system, Cooperative Adaptive Cruise Control. The algorithms and implementation thereof are explained. The

  1. Interpersonal communication and issues for autonomous vehicles.

    Science.gov (United States)

    2017-06-01

    Interpersonal roadway communication is a vital component of the transportation system. Road users communicate to coordinate movement and increase roadway safety. Future autonomous vehicle research needs to account for the role of interpersonal roadwa...

  2. Cardiovascular autonomic neuropathy and subclinical cardiovascular disease in normoalbuminuric type 1 diabetic patients

    DEFF Research Database (Denmark)

    Mogensen, Ulrik Madvig; Jensen, Tonny; Køber, Lars

    2012-01-01

    Cardiovascular autonomic neuropathy (CAN) is associated with increased mortality in diabetes. Since CAN often develops in parallel with diabetic nephropathy as a confounder, we aimed to investigate the isolated impact of CAN on cardiovascular disease in normoalbuminuric patients. Fifty......-six normoalbuminuric, type 1 diabetic patients were divided into 26 with (+) and 30 without (-) CAN according to tests of their autonomic nerve function. Coronary artery plaque burden and coronary artery calcium score (CACS) were evaluated using computed tomography. Left ventricular function was evaluated using...... with increased CACS, subclinical left ventricular dysfunction, and increased pulse pressure. In conclusion, CAN in normoalbuminuric type 1 diabetic patients is associated with distinct signs of subclinical cardiovascular disease....

  3. Autonomous gliding entry guidance with

    Directory of Open Access Journals (Sweden)

    Guo Jie

    2015-10-01

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

  4. Mechanical Autonomous Stochastic Heat Engine.

    Science.gov (United States)

    Serra-Garcia, Marc; Foehr, André; Molerón, Miguel; Lydon, Joseph; Chong, Christopher; Daraio, Chiara

    2016-07-01

    Stochastic heat engines are devices that generate work from random thermal motion using a small number of highly fluctuating degrees of freedom. Proposals for such devices have existed for more than a century and include the Maxwell demon and the Feynman ratchet. Only recently have they been demonstrated experimentally, using, e.g., thermal cycles implemented in optical traps. However, recent experimental demonstrations of classical stochastic heat engines are nonautonomous, since they require an external control system that prescribes a heating and cooling cycle and consume more energy than they produce. We present a heat engine consisting of three coupled mechanical resonators (two ribbons and a cantilever) subject to a stochastic drive. The engine uses geometric nonlinearities in the resonating ribbons to autonomously convert a random excitation into a low-entropy, nonpassive oscillation of the cantilever. The engine presents the anomalous heat transport property of negative thermal conductivity, consisting in the ability to passively transfer energy from a cold reservoir to a hot reservoir.

  5. Acupuncture Effect and Central Autonomic Regulation

    OpenAIRE

    Qian-Qian Li; Guang-Xia Shi; Qian Xu; Jing Wang; Cun-Zhi Liu; Lin-Peng Wang

    2013-01-01

    Acupuncture is a therapeutic technique and part of traditional Chinese medicine (TCM). Acupuncture has clinical efficacy on various autonomic nerve-related disorders, such as cardiovascular diseases, epilepsy, anxiety and nervousness, circadian rhythm disorders, polycystic ovary syndrome (PCOS) and subfertility. An increasing number of studies have demonstrated that acupuncture can control autonomic nerve system (ANS) functions including blood pressure, pupil size, skin conductance, skin temp...

  6. Autonomous Preservation Tools in Minimal Effort Ingest

    DEFF Research Database (Denmark)

    Jurik, Bolette Ammitzbøll; Blekinge, Asger Askov; Andersen, Thorbjørn Ravn

    2016-01-01

    This poster presents the concept of Autonomous Preservation Tools, as developed by the State and University Library, Denmark. The work expands the idea of Minimal Effort Ingest, where most preservation actions such as Quality Assurance and enrichment of the digital objects are performed after...... content is ingested for preservation, rather than before. We present our Newspaper Digitisation Project as a case-study of real-world implementations of Autonomous Preservation Tools....

  7. PID Controllers for Autonomous Vehicle Path Following

    OpenAIRE

    Norrsjö, Viktor; Stenberg, Viktor

    2017-01-01

    Autonomous vehicles are set to create a paradigmshift. Everyone could relax on their way to work and no accidentsdue to falling asleep behind the wheel would occur. For this tohappen the autonomous vehicle requires among many differentcomponents, a lane following system. In this paper such asystem is developed. First a mathematical model that describea vehicles behaviour is derived. Then a regulator structure withcontrollers and other components is developed. Finally the systemis implemented ...

  8. JOMAR: Joint Operations with Mobile Autonomous Robots

    Science.gov (United States)

    2015-12-21

    agricultural robots , which gener- ally have unobstructed satellite line-of-sight, can rely heavily upon GPS sensors for positioning. In environments...AFRL-AFOSR-JP-TR-2015-0009 JOMAR: Joint Operations with Mobile Autonomous Robots Edwin Olson UNIVERSITY OF MICHIGAN Final Report 12/21/2015...SUBTITLE JOMAR: Joint Operations with Mobile Autonomous Robots 5a. CONTRACT NUMBER FA23861114024 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

  9. Autonomous robot navigation: appearance based topological SLAM

    OpenAIRE

    Lui, Wen Lik Dennis

    2017-01-01

    The main focus of this research is to develop an autonomous robot capable of self-navigation in an unknown environment. The proposed system performs autonomous navigation primarily based on the following visually perceived information: 1) Range Estimation: A novel variable single/multi baseline omnidirectional stereovision system with an option to automatically select the baseline that is adjusted to the environment with the establishment of stereo correspondences and triangulation offloa...

  10. Optimized positioning of autonomous surgical lamps

    Science.gov (United States)

    Teuber, Jörn; Weller, Rene; Kikinis, Ron; Oldhafer, Karl-Jürgen; Lipp, Michael J.; Zachmann, Gabriel

    2017-03-01

    We consider the problem of finding automatically optimal positions of surgical lamps throughout the whole surgical procedure, where we assume that future lamps could be robotized. We propose a two-tiered optimization technique for the real-time autonomous positioning of those robotized surgical lamps. Typically, finding optimal positions for surgical lamps is a multi-dimensional problem with several, in part conflicting, objectives, such as optimal lighting conditions at every point in time while minimizing the movement of the lamps in order to avoid distractions of the surgeon. Consequently, we use multi-objective optimization (MOO) to find optimal positions in real-time during the entire surgery. Due to the conflicting objectives, there is usually not a single optimal solution for such kinds of problems, but a set of solutions that realizes a Pareto-front. When our algorithm selects a solution from this set it additionally has to consider the individual preferences of the surgeon. This is a highly non-trivial task because the relationship between the solution and the parameters is not obvious. We have developed a novel meta-optimization that considers exactly this challenge. It delivers an easy to understand set of presets for the parameters and allows a balance between the lamp movement and lamp obstruction. This metaoptimization can be pre-computed for different kinds of operations and it then used by our online optimization for the selection of the appropriate Pareto solution. Both optimization approaches use data obtained by a depth camera that captures the surgical site but also the environment around the operating table. We have evaluated our algorithms with data recorded during a real open abdominal surgery. It is available for use for scientific purposes. The results show that our meta-optimization produces viable parameter sets for different parts of an intervention even when trained on a small portion of it.

  11. Autonomous Control of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Basher, H.

    2003-10-20

    A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that may be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors.

  12. Hull shape optimization for autonomous underwater vehicles using CFD

    Directory of Open Access Journals (Sweden)

    Ting Gao

    2016-01-01

    Full Text Available Drag estimation and shape optimization of autonomous underwater vehicle (AUV hulls are critical to energy utilization and endurance improvement. In the present work, a shape optimization platform composed of several commercial software packages is presented. Computational accuracy, efficiency and robustness were carefully considered and balanced. Comparisons between experiments and computational fluid dynamics (CFD were conducted to prove that a two-dimensional (2D unstructured mesh, a standard wall function and adaptive mesh refinement could greatly improve efficiency as well as guarantee accuracy. Details of the optimization platform were then introduced. A comparison of optimizers indicates that the multi-island genetic algorithm (MIGA obtains a better hull shape than particle swarm optimization (PSO, despite being a little more time consuming. The optimized hull shape under general volume requirement could provide reference for AUV hull design. Specific requirements based on optimization testify of the platform’s robustness.

  13. Advancing Autonomous Operations for Deep Space Vehicles

    Science.gov (United States)

    Haddock, Angie T.; Stetson, Howard K.

    2014-01-01

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

  14. Using dynamic pupillometry as a simple screening tool to detect autonomic neuropathy in patients with diabetes: a pilot study

    Directory of Open Access Journals (Sweden)

    Schneider Fábio K

    2010-06-01

    Full Text Available Abstract Background Autonomic neuropathy is a common and serious complication of diabetes. Early detection is essential to enable appropriate interventional therapy and management. Dynamic pupillometry has been proposed as a simpler and more sensitive tool to detect subclinical autonomic dysfunction. The aim of this study was to investigate pupil responsiveness in diabetic subjects with and without cardiovascular autonomic neuropathy (CAN using dynamic pupillometry in two sets of experiments. Methods During the first experiment, one flash was administered and the pupil response was recorded for 3 s. In the second experiment, 25 flashes at 1-s interval were administered and the pupil response was recorded for 30 s. Several time and pupil-iris radius-related parameters were computed from the acquired data. A total of 24 diabetic subjects (16 without and 8 with CAN and 16 healthy volunteers took part in the study. Results Our results show that diabetic subjects with and without CAN have sympathetic and parasympathetic dysfunction, evidenced by diminished amplitude reflexes and significant smaller pupil radius. It suggests that pupillary autonomic dysfunction occurs before a more generalized involvement of the autonomic nervous system, and this could be used to detect early autonomic dysfunction. Conclusions Dynamic pupillometry provides a simple, inexpensive, and noninvasive tool to screen high-risk diabetic patients for diabetic autonomic neuropathy.

  15. A testbed for a unified teleoperated-autonomous dual-arm robotic system

    Science.gov (United States)

    Hayati, S.; Lee, T.; Tso, K.; Backes, P.; Lloyd, J.

    1990-01-01

    This paper describes a complete robot control facility built at the Jet Propulsion Laboratory as part of NASA a telerobotics program to develop a state-of-the-art robot control environment for laboratory based space-like experiments. This system, which is now fully operational, has the following features: separation of the computing facilities into local and remote sites, autonomous motion generation in joint or Cartesian coordinates, dual-arm force reflecting teleoperation with voice interaction between the operator and the robots, shared control between the autonomously generated motions and operator controlled teleoperation, and dual-arm coordinated trajectory generation. The system has been used to carry out realistic experiments such as the exchange of an Orbital Replacement Unit (ORU), bolt turning, and door opening, using a mixture of autonomous actions and teleoperation, with either a single arm or two cooperating arms.

  16. Autonomous navigation of a mobile robot using custom-designed qualitative reasoning VLSI chips and boards

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Pattay, R.S. (Oak Ridge National Lab., TN (United States)); Watanabe, H.; Symon, J. (North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science)

    1991-01-01

    Two types of computer boards including custom-designed VLSI chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of a mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation is a-priori unknown environments is discussed. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse inaccurate sensor data. 17 refs., 6 figs.

  17. Using custom-designed VLSI fuzzy inferencing chips for the autonomous navigation of a mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Pattay, R.S. (Oak Ridge National Lab., TN (United States)); Watanabe, Hiroyuki; Symon, J. (North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science)

    1991-01-01

    Two types of computer boards including custom-designed VLSI fuzzy inferencing chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation in apriori unknown environments is discussed. An approach using superposition of elemental sensor-based behaviors is shown to alloy easy development and testing of the inferencing rule base, while providing for progressive addition of behaviors to resolve situations of increasing complexity. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse and inaccurate sensor data. 17 refs., 6 figs.

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

    DEFF Research Database (Denmark)

    Bjørner, Thomas

    The aim of this minor pilot study is, from a sociological user perspective, to explore a priori user acceptance and the perceived driving pleasure in semi- autonomous and autonomous vehicles. The methods used were 13 in-depth interviews while having participants watch video examples within four...

  19. Autonomous and autonomic systems with applications to NASA intelligent spacecraft operations and exploration systems

    CERN Document Server

    Truszkowski, Walt; Rouff, Christopher; Karlin, Jay; Rash, James; Hinchey, Michael; Sterritt, Roy

    2009-01-01

    This book provides an in-depth discussion of autonomous and autonomic systems, their interdependencies, differences and similarities. Current and pending issues in these evermore increasingly important subjects are highlighted and discussed. Concepts, ideas and experiences are explored in relation to real-life NASA systems in spacecraft control and in the exploration domain.

  20. DUKW-21 Autonomous Navigation - Autonomous Path Planning for an Amphibious Vehicle

    Science.gov (United States)

    2009-08-01

    Implementation on AGV ....................................... 4 Figure 5: Case where g(s1) < g(s2) but s2 is a Node on the Optimal Path...of Step 1 in Algorithm 12 ............................................................. 22 Nomenclature AGV : Autonomous Ground Vehicle ASSV...advantage of their individually unique problems. Autonomous Ground Vehicles ( AGV ) typically implement a batch path planning system, which finds a

  1. Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

    Science.gov (United States)

    Tran, Loc; Cross, Charles; Montague, Gilbert; Motter, Mark; Neilan, James; Qualls, Garry; Rothhaar, Paul; Trujillo, Anna; Allen, B. Danette

    2015-01-01

    We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

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

    Directory of Open Access Journals (Sweden)

    Zhigang Xu

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Ali M. Eltamaly

    2014-01-01

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

  4. Cardiac Autonomic Neuropathy and QTc Interval in Type 2 Diabetes

    Directory of Open Access Journals (Sweden)

    Jayaprasad Narayana Pillai

    2015-01-01

    Full Text Available Context: An association between cardiac autonomic neuropathy and QT interval prolongation was demonstrated in many studies and it may predispose to sudden death in diabetes mellitus. Aims: To find out the prevalence of cardiac autonomic neuropathy and its relation to QTc interval and QTc dispersion in type 2 diabetes. Settings and Design: Observational study. Materials and Methods: Fifty patients with type 2 diabetes mellitus of more than 5-years duration and 30 age- and sex-matched controls without any history of diabetes were selected. A battery of five autonomic function tests was done in all cases. Heart rate, QTc values, and QTc dispersion were measured and compared among patients with and without autonomic neuropathy and controls. Statistical analysis used: Students t test/Chi-square test. Results: Among the 50 patients in the study population, 21 (42% had severe autonomic neuropathy and 12 (24% had early autonomic neuropathy. Mean heart rate was significantly more in patients with autonomic neuropathy than those without neuropathy. Diabetics with autonomic neuropathy had significantly higher QTc mean and QTc max values compared to diabetics without autonomic neuropathy and controls. QTc dispersion was significantly more among patients with autonomic neuropathy compared to those without autonomic neuropathy and controls. Conclusions: Diabetic autonomic neuropathy is associated with increase in resting heart rate and prolongation of QTc intervals. QTc max was correlating with severity of autonomic neuropathy. QTc dispersion is significantly high in diabetes mellitus with autonomic neuropathy.

  5. Mobile Agents in Networking and Distributed Computing

    CERN Document Server

    Cao, Jiannong

    2012-01-01

    The book focuses on mobile agents, which are computer programs that can autonomously migrate between network sites. This text introduces the concepts and principles of mobile agents, provides an overview of mobile agent technology, and focuses on applications in networking and distributed computing.

  6. Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

    Science.gov (United States)

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

    2016-01-01

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

  7. Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

    Directory of Open Access Journals (Sweden)

    Vinayak V Dixit

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

  8. A power autonomous monopedal robot

    Science.gov (United States)

    Krupp, Benjamin T.; Pratt, Jerry E.

    2006-05-01

    We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all

  9. CFSO3: A New Supervised Swarm-Based Optimization Algorithm

    Directory of Open Access Journals (Sweden)

    Antonino Laudani

    2013-01-01

    Full Text Available We present CFSO3, an optimization heuristic within the class of the swarm intelligence, based on a synergy among three different features of the Continuous Flock-of-Starlings Optimization. One of the main novelties is that this optimizer is no more a classical numerical algorithm since it now can be seen as a continuous dynamic system, which can be treated by using all the mathematical instruments available for managing state equations. In addition, CFSO3 allows passing from stochastic approaches to supervised deterministic ones since the random updating of parameters, a typical feature for numerical swam-based optimization algorithms, is now fully substituted by a supervised strategy: in CFSO3 the tuning of parameters is a priori designed for obtaining both exploration and exploitation. Indeed the exploration, that is, the escaping from a local minimum, as well as the convergence and the refinement to a solution can be designed simply by managing the eigenvalues of the CFSO state equations. Virtually in CFSO3, just the initial values of positions and velocities of the swarm members have to be randomly assigned. Both standard and parallel versions of CFSO3 together with validations on classical benchmarks are presented.

  10. Swarm-Based Smart City Platform: A Traffic Application

    Directory of Open Access Journals (Sweden)

    Pablo CHAMOSO

    2016-05-01

    Full Text Available Smart cities are proposed as a medium-term option for all cities. This article aims to propose an architecture that allows cities to provide solutions to interconnect all their elements. The study case focuses in locating and optimized regulation of traffic in cities. However, thanks to the proposed structure and the applied algorithms, the architecture is scalable in size of the sensor network, in functionality or even in the use of resources. A simulation environment that is able to show the operation of the architecture in the same way that a real city would, is presented.

  11. A versatile hardware platform for brain computer interfaces.

    Science.gov (United States)

    Garcia, Pablo A; Haberman, Marcelo; Spinelli, Enrique M

    2010-01-01

    This article presents the development of a versatile hardware platform for brain computer interfaces (BCI). The aim of this work is to produce a small, autonomous and configurable BCI platform adaptable to the user's needs.

  12. Autonomous calibration of single spin qubit operations

    Science.gov (United States)

    Frank, Florian; Unden, Thomas; Zoller, Jonathan; Said, Ressa S.; Calarco, Tommaso; Montangero, Simone; Naydenov, Boris; Jelezko, Fedor

    2017-12-01

    Fully autonomous precise control of qubits is crucial for quantum information processing, quantum communication, and quantum sensing applications. It requires minimal human intervention on the ability to model, to predict, and to anticipate the quantum dynamics, as well as to precisely control and calibrate single qubit operations. Here, we demonstrate single qubit autonomous calibrations via closed-loop optimisations of electron spin quantum operations in diamond. The operations are examined by quantum state and process tomographic measurements at room temperature, and their performances against systematic errors are iteratively rectified by an optimal pulse engineering algorithm. We achieve an autonomous calibrated fidelity up to 1.00 on a time scale of minutes for a spin population inversion and up to 0.98 on a time scale of hours for a single qubit π/2 -rotation within the experimental error of 2%. These results manifest a full potential for versatile quantum technologies.

  13. Autonomic regulation in fragile X syndrome.

    Science.gov (United States)

    Heilman, Keri J; Harden, Emily R; Zageris, Danielle M; Berry-Kravis, Elizabeth; Porges, Stephen W

    2011-12-01

    Autonomic reactivity was studied in individuals with fragile X syndrome (FXS), a genetic disorder partially characterized by abnormal social behavior. Relative to age-matched controls, the FXS group had faster baseline heart rate and lower amplitude respiratory sinus arrhythmia (RSA). In contrast to the typically developing controls, there was a decrease in RSA with age within the FXS group. Moreover, within the FXS group heart rate did not slow with age. The FXS group also responded with an atypical increase in RSA to the social challenge, while the control group reduced RSA. In a subset of the FXS group, the autonomic profile did not change following 2 months and 1 year of lithium treatment. The observed indices of atypical autonomic regulation, consistent with the Polyvagal Theory, may contribute to the deficits in social behavior and social communication observed in FXS. Copyright © 2011 Wiley Periodicals, Inc.

  14. Control of autonomous robot using neural networks

    Science.gov (United States)

    Barton, Adam; Volna, Eva

    2017-07-01

    The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

  15. An Autonomous Reference Frame for Relativistic GNSS

    CERN Document Server

    Kostić, Uroš; Carloni, Sante; Delva, Pacôme; Gomboc, Andreja

    2014-01-01

    Current GNSS systems rely on global reference frames which are fixed to the Earth (via the ground stations) so their precision and stability in time are limited by our knowledge of the Earth dynamics. These drawbacks could be avoided by giving to the constellation of satellites the possibility of constituting by itself a primary and autonomous positioning system, without any a priori realization of a terrestrial reference frame. Our work shows that it is possible to construct such a system, an Autonomous Basis of Coordinates, via emission coordinates. Here we present the idea of the Autonomous Basis of Coordinates and its implementation in the perturbed space-time of Earth, where the motion of satellites, light propagation, and gravitational perturbations are treated in the formalism of general relativity.

  16. Blood pressure regulation in diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1985-01-01

    Defective blood pressure responses to standing, exercise and epinephrine infusions have been demonstrated in diabetic patients with autonomic neuropathy. The circulatory mechanisms underlying blood pressure responses to exercise and standing up in these patients are well characterized: In both...... which may contribute to exercise hypotension in these patients. During hypoglycemia, blood pressure regulation seems intact in patients with autonomic neuropathy. This is probably due to release of substantial amounts of catecholamines during these experiments. During epinephrine infusions a substantial...... blood pressure fall ensues in patients with autonomic neuropathy, probably due to excessive muscular vasodilation. It is unresolved why blood pressure regulation is intact during hypoglycemia and severely impaired--at similar catecholamine concentrations--during epinephrine infusions....

  17. A Collaborative Knowledge Plane for Autonomic Networks

    Science.gov (United States)

    Mbaye, Maïssa; Krief, Francine

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

  18. Autonomous driving technical, legal and social aspects

    CERN Document Server

    Gerdes, J; Lenz, Barbara; Winner, Hermann

    2016-01-01

    This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the auth...

  19. Capturing Requirements for Autonomous Spacecraft with Autonomy Requirements Engineering

    Science.gov (United States)

    Vassev, Emil; Hinchey, Mike

    2014-08-01

    The Autonomy Requirements Engineering (ARE) approach has been developed by Lero - the Irish Software Engineering Research Center within the mandate of a joint project with ESA, the European Space Agency. The approach is intended to help engineers develop missions for unmanned exploration, often with limited or no human control. Such robotics space missions rely on the most recent advances in automation and robotic technologies where autonomy and autonomic computing principles drive the design and implementation of unmanned spacecraft [1]. To tackle the integration and promotion of autonomy in software-intensive systems, ARE combines generic autonomy requirements (GAR) with goal-oriented requirements engineering (GORE). Using this approach, software engineers can determine what autonomic features to develop for a particular system (e.g., a space mission) as well as what artifacts that process might generate (e.g., goals models, requirements specification, etc.). The inputs required by this approach are the mission goals and the domain-specific GAR reflecting specifics of the mission class (e.g., interplanetary missions).

  20. Programmable autonomous synthesis of single-stranded DNA

    Science.gov (United States)

    Kishi, Jocelyn Y.; Schaus, Thomas E.; Gopalkrishnan, Nikhil; Xuan, Feng; Yin, Peng

    2018-02-01

    DNA performs diverse functional roles in biology, nanotechnology and biotechnology, but current methods for autonomously synthesizing arbitrary single-stranded DNA are limited. Here, we introduce the concept of primer exchange reaction (PER) cascades, which grow nascent single-stranded DNA with user-specified sequences following prescribed reaction pathways. PER synthesis happens in a programmable, autonomous, in situ and environmentally responsive fashion, providing a platform for engineering molecular circuits and devices with a wide range of sensing, monitoring, recording, signal-processing and actuation capabilities. We experimentally demonstrate a nanodevice that transduces the detection of a trigger RNA into the production of a DNAzyme that degrades an independent RNA substrate, a signal amplifier that conditionally synthesizes long fluorescent strands only in the presence of a particular RNA signal, molecular computing circuits that evaluate logic (AND, OR, NOT) combinations of RNA inputs, and a temporal molecular event recorder that records in the PER transcript the order in which distinct RNA inputs are sequentially detected.

  1. Autonomic Wireless Sensor Networks: A Systematic Literature Review

    Directory of Open Access Journals (Sweden)

    Jesús M. T. Portocarrero

    2014-01-01

    Full Text Available Autonomic computing (AC is a promising approach to meet basic requirements in the design of wireless sensor networks (WSNs, and its principles can be applied to efficiently manage nodes operation and optimize network resources. Middleware for WSNs supports the implementation and basic operation of such networks. In this systematic literature review (SLR we aim to provide an overview of existing WSN middleware systems that address autonomic properties. The main goal is to identify which development approaches of AC are used for designing WSN middleware system, which allow the self-management of WSN. Another goal is finding out which interactions and behavior can be automated in WSN components. We drew the following main conclusions from the SLR results: (i the selected studies address WSN concerns according to the self-* properties of AC, namely, self-configuration, self-healing, self-optimization, and self-protection; (ii the selected studies use different approaches for managing the dynamic behavior of middleware systems for WSN, such as policy-based reasoning, context-based reasoning, feedback control loops, mobile agents, model transformations, and code generation. Finally, we identified a lack of comprehensive system architecture designs that support the autonomy of sensor networking.

  2. Development of a deep ocean electric autonomous manipulator

    Science.gov (United States)

    Xiao, Zhi-Hu; Xu, Guo-Hua; Peng, Fu-Yuan; Tang, Guo-Yuan; Shen, Xiong; Yang, Bo

    2011-03-01

    This paper describes an underwater 3500 m electric manipulator (named Huahai-4E, stands for four functions deep ocean electric manipulator in China), which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology (HUST) for a test bed of studying of deep ocean manipulation technologies. The manipulator features modular integration joints, and layered architecture control system. The oil-filled, pressure-compensated joint is compactly designed and integrated of a permanent magnet (PM) brushless motor, a drive circuit, a harmonic gear and an angular feedback potentiometer. The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control, task plan and target sensor respectively. They communicate through User Datagram Protocol (UDP) multicast communication in Vxworks OS. A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system. Furthermore, the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera. Autonomous grasp strategy based multi-sensor is studied. The results of watertight test in 40 MPa, joint's efficiency test and autonomous grasp experiments in tank are also presented.

  3. Ground Operations Autonomous Control and Integrated Health Management

    Science.gov (United States)

    Daniels, James

    2014-01-01

    The Ground Operations Autonomous Control and Integrated Health Management plays a key role for future ground operations at NASA. The software that is integrated into this system is called G2 2011 Gensym. The purpose of this report is to describe the Ground Operations Autonomous Control and Integrated Health Management with the use of the G2 Gensym software and the G2 NASA toolkit for Integrated System Health Management (ISHM) which is a Computer Software Configuration Item (CSCI). The decision rationale for the use of the G2 platform is to develop a modular capability for ISHM and AC. Toolkit modules include knowledge bases that are generic and can be applied in any application domain module. That way, there's a maximization of reusability, maintainability, and systematic evolution, portability, and scalability. Engine modules are generic, while application modules represent the domain model of a specific application. Furthermore, the NASA toolkit, developed since 2006 (a set of modules), makes it possible to create application domain models quickly, using pre-defined objects that include sensors and components libraries for typical fluid, electrical, and mechanical systems.

  4. Are Turkish University Students Autonomous or Not?

    Directory of Open Access Journals (Sweden)

    Büşra Kırtık

    2017-01-01

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

  5. Star sensors for autonomous attitude control and navigation

    Science.gov (United States)

    van Bezooijen, Roelof W. H.

    1992-11-01

    The attitude control and navigation systems of future advanced spacecraft will be characterized by a high degree of autonomy, very high accuracy, efficient commandability, and fast fault recovery. These characteristics are incompatible with the constraints of conventional star sensors which mandate a-priori definition of all onboard attitude fixes and work only if attitude uncertainties remain small. With the availability of accurate, anti-blooming capable CCDs, fast microprocessors, high density memory chips, and star pattern recognition algorithms, it is now feasible to fabricate miniature Autonomous Star Trackers (ASTs) capable of (1) determining their attitude rapidly and reliably while having no a-priori attitude knowledge, (2) autonomous attitude updating, and (3) providing their attitude at rates up to typically 40 Hz. In addition to providing the functionality needed for future missions, ASTs can also be exploited to improve the reliability, mass, power, and cost of spacecraft and reduce the cost of operating them. This paper describes star identification schemes used in the past, it discusses a number of star pattern recognition algorithms, and provides the main characteristics of current CCD star trackers. A number of specific functions enabled or enhanced by an AST are described including fast attitude acquisition, rapid fault recovery, attitude safing, gyroless/cheap-gyro attitude control, autonomous target acquisition by astronomy telescopes, autonomous optical navigation, and precision pointing to terrestrial targets. The AST being developed at Lockheed uses a fast, memory-efficient, and highly robust star pattern recognition algorithm based on matching groups of stars. The algorithm, which is also applicable to star scanners, is described along with a realistic simulation program for testing its performance. It is shown that an AST with an 11.3 degree FOV diameter, a database of 4100 guide stars, a 25 MHz MC68030 class microprocessor, and 800 Kbytes

  6. Autonomous control of distributed storages in microgrids

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Blaabjerg, Frede

    2011-01-01

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

  7. Autonomous operations through onboard artificial intelligence

    Science.gov (United States)

    Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

    2002-01-01

    The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

  8. Emerging Technologies for Autonomous Language Learning

    Directory of Open Access Journals (Sweden)

    Mark Warschauer

    2011-09-01

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

  9. Context-aware computing and self-managing systems

    CERN Document Server

    Dargie, Waltenegus

    2009-01-01

    Bringing together an extensively researched area with an emerging research issue, Context-Aware Computing and Self-Managing Systems presents the core contributions of context-aware computing in the development of self-managing systems, including devices, applications, middleware, and networks. The expert contributors reveal the usefulness of context-aware computing in developing autonomous systems that have practical application in the real world.The first chapter of the book identifies features that are common to both context-aware computing and autonomous computing. It offers a basic definit

  10. Resilient computer system design

    CERN Document Server

    Castano, Victor

    2015-01-01

    This book presents a paradigm for designing new generation resilient and evolving computer systems, including their key concepts, elements of supportive theory, methods of analysis and synthesis of ICT with new properties of evolving functioning, as well as implementation schemes and their prototyping. The book explains why new ICT applications require a complete redesign of computer systems to address challenges of extreme reliability, high performance, and power efficiency. The authors present a comprehensive treatment for designing the next generation of computers, especially addressing safety-critical, autonomous, real time, military, banking, and wearable health care systems.   §  Describes design solutions for new computer system - evolving reconfigurable architecture (ERA) that is free from drawbacks inherent in current ICT and related engineering models §  Pursues simplicity, reliability, scalability principles of design implemented through redundancy and re-configurability; targeted for energy-,...

  11. Autonomous robotics and deep learning

    CERN Document Server

    Nath, Vishnu

    2014-01-01

    This Springer Brief examines the combination of computer vision techniques and machine learning algorithms necessary for humanoid robots to develop "true consciousness." It illustrates the critical first step towards reaching "deep learning," long considered the holy grail for machine learning scientists worldwide. Using the example of the iCub, a humanoid robot which learns to solve 3D mazes, the book explores the challenges to create a robot that can perceive its own surroundings. Rather than relying solely on human programming, the robot uses physical touch to develop a neural map of its en

  12. Neuromorphic computing applications for network intrusion detection systems

    Science.gov (United States)

    Garcia, Raymond C.; Pino, Robinson E.

    2014-05-01

    What is presented here is a sequence of evolving concepts for network intrusion detection. These concepts start with neuromorphic structures for XOR-based signature matching and conclude with computationally based network intrusion detection system with an autonomous structuring algorithm. There is evidence that neuromorphic computation for network intrusion detection is fractal in nature under certain conditions. Specifically, the neural structure can take fractal form when simple neural structuring is autonomous. A neural structure is fractal by definition when its fractal dimension exceeds the synaptic matrix dimension. The authors introduce the use of fractal dimension of the neuromorphic structure as a factor in the autonomous restructuring feedback loop.

  13. Autonomous Vehicle Survey of Bicyclists and Pedestrians in Pittsburgh, 2017

    Data.gov (United States)

    Allegheny County / City of Pittsburgh / Western PA Regional Data Center — In Pittsburgh, Autonomous Vehicle (AV) companies have been testing autonomous vehicles since September 2016. However, the tech is new, and there have been some...

  14. GPM GROUND VALIDATION AUTONOMOUS PARSIVEL UNIT (APU) GCPEX V1

    Data.gov (United States)

    National Aeronautics and Space Administration — The GPM Ground Validation Autonomous Parsivel Unit (APU) GCPEx dataset was collected by the Autonomous Parsivel Unit (APU), which is an optical disdrometer that...

  15. GPM GROUND VALIDATION AUTONOMOUS PARSIVEL UNIT (APU) HYMEX V1

    Data.gov (United States)

    National Aeronautics and Space Administration — The GPM Ground Validation Autonomous Parsivel Unit (APU) HyMeX dataset was collected by the Autonomous Parsivel Unit (APU), which is an optical disdrometer that...

  16. Effect of Sleep/Wake Cycle on Autonomic Regulation.

    Science.gov (United States)

    Jabeen, Surriya

    2015-06-01

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

  17. Thermoelectric-Driven Autonomous Sensors for a Biomass Power Plant

    Science.gov (United States)

    Rodríguez, A.; Astrain, D.; Martínez, A.; Gubía, E.; Sorbet, F. J.

    2013-07-01

    This work presents the design and development of a thermoelectric generator intended to harness waste heat in a biomass power plant, and generate electric power to operate sensors and the required electronics for wireless communication. The first objective of the work is to design the optimum thermoelectric generator to harness heat from a hot surface, and generate electric power to operate a flowmeter and a wireless transmitter. The process is conducted by using a computational model, presented in previous papers, to determine the final design that meets the requirements of electric power consumption and number of transmissions per minute. Finally, the thermoelectric generator is simulated to evaluate its performance. The final device transmits information every 5 s. Moreover, it is completely autonomous and can be easily installed, since no electric wires are required.

  18. Autonomous Evolution of Dynamic Gaits with Two Quadruped Robots

    Science.gov (United States)

    Hornby, Gregory S.; Takamura, Seichi; Yamamoto, Takashi; Fujita, Masahiro

    2004-01-01

    A challenging task that must be accomplished for every legged robot is creating the walking and running behaviors needed for it to move. In this paper we describe our system for autonomously evolving dynamic gaits on two of Sony's quadruped robots. Our evolutionary algorithm runs on board the robot and uses the robot's sensors to compute the quality of a gait without assistance from the experimenter. First we show the evolution of a pace and trot gait on the OPEN-R prototype robot. With the fastest gait, the robot moves at over 10/min/min., which is more than forty body-lengths/min. While these first gaits are somewhat sensitive to the robot and environment in which they are evolved, we then show the evolution of robust dynamic gaits, one of which is used on the ERS-110, the first consumer version of AIBO.

  19. Control design for an autonomous wind based hydrogen production system

    Energy Technology Data Exchange (ETDEWEB)

    Valenciaga, F.; Evangelista, C.A. [CONICET, Laboratorio de Electronica Industrial Control e Instrumentacion (LEICI), Facultad de Ingenieria, Universidad Nacional de La Plata, CC.91, C.P. 1900, La Plata (Argentina)

    2010-06-15

    This paper presents a complete control scheme to efficiently manage the operation of an autonomous wind based hydrogen production system. This system comprises a wind energy generation module based on a multipolar permanent magnet synchronous generator, a lead-acid battery bank as short term energy storage and an alkaline von Hoerner electrolyzer. The control is developed in two hierarchical levels. The higher control level or supervisor control determines the general operation strategy for the whole system according to the wind conditions and the state of charge of the battery bank. On the other hand, the lower control level includes the individual controllers that regulate the respective module operation assuming the set-points determined by the supervisor control. These last controllers are approached using second-order super-twisting sliding mode techniques. The performance of the closed-loop system is assessed through representative computer simulations. (author)

  20. Autonomous facial recognition system inspired by human visual system based logarithmical image visualization technique

    Science.gov (United States)

    Wan, Qianwen; Panetta, Karen; Agaian, Sos

    2017-05-01

    Autonomous facial recognition system is widely used in real-life applications, such as homeland border security, law enforcement identification and authentication, and video-based surveillance analysis. Issues like low image quality, non-uniform illumination as well as variations in poses and facial expressions can impair the performance of recognition systems. To address the non-uniform illumination challenge, we present a novel robust autonomous facial recognition system inspired by the human visual system based, so called, logarithmical image visualization technique. In this paper, the proposed method, for the first time, utilizes the logarithmical image visualization technique coupled with the local binary pattern to perform discriminative feature extraction for facial recognition system. The Yale database, the Yale-B database and the ATT database are used for computer simulation accuracy and efficiency testing. The extensive computer simulation demonstrates the method's efficiency, accuracy, and robustness of illumination invariance for facial recognition.

  1. Attitudes towards Autonomous Data Collection and Analysis in the Planetary Science Community

    Directory of Open Access Journals (Sweden)

    Jeremy Straub

    2013-06-01

    Full Text Available As missions are planned to targets further away from Earth, it becomes all but required to increase the role of autonomy in the mission. An investigation of what aspects of mission operations and decision making autonomy will be accepted in by the planetary science community is thus required to aid in development planning. This paper presents a data set collected regarding attitudes towards autonomous data collection and analysis in the planetary science community and initial analysis of this data. A survey, conducted at the 2013 Lunar and Planetary Science Conference, asked respondents to identify whether or not they would accept conclusions drawn by autonomous data collection techniques and what factors would impact this acceptance. It also looked at the acceptance of computers and computer software in the data collection and analysis process.

  2. Target Trailing With Safe Navigation With Colregs for Maritime Autonomous Surface Vehicles

    Science.gov (United States)

    Kuwata, Yoshiaki (Inventor); Wolf, Michael T. (Inventor); Zarzhitsky, Dimitri V. (Inventor); Aghazarian, Hrand (Inventor); Huntsberger, Terrance L. (Inventor); Howard, Andrew B. (Inventor)

    2014-01-01

    Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.

  3. Applying Energy Autonomous Robots for Dike Inspection

    NARCIS (Netherlands)

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

    2015-01-01

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

  4. Behavioural domain knowledge transfer for autonomous agents

    CSIR Research Space (South Africa)

    Rosman, Benjamin S

    2014-11-01

    Full Text Available task independent behaviour model based on the underlying structure of a domain which is common across multiple tasks presented to an autonomous agent. Our approach involves learning action priors: a behavioural model which encodes a notion of local...

  5. Autonomous operation of distributed storages in microgrids

    DEFF Research Database (Denmark)

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

    2014-01-01

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

  6. The Cardiovascular Autonomic Nervous System and Anaesthesia

    African Journals Online (AJOL)

    QuickSilver

    Respiratory function can interfere with stimulus standard- ... TABLE IV: Practical Indicators of Abnormal Cardiovascular Autonomic. Function. Resting heart rate > 90 beats/minute. Abnormal heart rate variability (failure to change heart rate, R-R interval by ..... The structure of the sympathetic nervous system dictates that a.

  7. Autonomous Control, Climate and Environmental Changes Effects ...

    African Journals Online (AJOL)

    Autonomous Control, Climate and Environmental Changes Effects on Trypanosomiasis in Sub-Saharan Africa: A Review. ... Purposive control includes those related to animal husbandry and breeding, those directed against the trypanosome and those targeted at the vector. To be sustained and effective in the reduction of ...

  8. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

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

  9. Information Engineering in Autonomous Robot Software

    NARCIS (Netherlands)

    Ziafati, P.

    2015-01-01

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

  10. Requirement analysis for autonomous systems and intelligent ...

    African Journals Online (AJOL)

    ... very high penetration of distributed generation. This control architecture is based upon the requirements identified in the first part. We also present development of a software framework to test such flexible control architectures. Keywords: Electric power system, distributed control, autonomous systems, intelligent agents ...

  11. Migraine and Autonomic Nervous System Dysfunction

    Directory of Open Access Journals (Sweden)

    J. Gordon Millichap

    2002-02-01

    Full Text Available Tests of autonomic nervous system (ANS function were administered to 80 adult patients with migraine (28 with disabling headaches and 85 matched controls, in a study at the Thomas Jefferson University Hospital, Philadelphia, PA, Johns Hopkins School of Hygiene and Public Health, Albert Einstein College of Medicine, and Montefiore Medical Center, Bronx, NY.

  12. Autonomic changes in fibromyalgia: Clinical and ...

    African Journals Online (AJOL)

    Background: Autonomic nervous system (ANS) dysfunction is one of the suggested pathophysiological mechanisms of fibromyalgia (FM). Its dysfunction may contribute to enhanced pain and other clinical problems associated with FM. Previous studies showed conflicting results regarding ANS function in FM. Some studies ...

  13. Autonomous Language Learning: The Teachers' Perspectives.

    Science.gov (United States)

    Chan, Victoria

    2003-01-01

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

  14. A Multifunctional Coating for Autonomous Corrosion Control

    Science.gov (United States)

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

    2011-01-01

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

  15. Autonomous Robot Navigation In Public Nature Park

    DEFF Research Database (Denmark)

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

    2005-01-01

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

  16. An autonomous control framework for advanced reactors

    Directory of Open Access Journals (Sweden)

    Richard T. Wood

    2017-08-01

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

  17. An autonomous control framework for advanced reactors

    Energy Technology Data Exchange (ETDEWEB)

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

    2017-08-15

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

  18. Autonomic nervous control of the urinary bladder

    NARCIS (Netherlands)

    Ochodnicky, P.; Uvelius, B.; Andersson, K.-E.; Michel, M. C.

    2013-01-01

    The autonomic nervous system plays an important role in the regulation of the urinary bladder function. Under physiological circumstances, noradrenaline, acting mainly on β(3) -adrenoceptors in the detrusor and on α(1) (A) -adrenoceptors in the bladder outflow tract, promotes urine storage, whereas

  19. The treatment of autonomic dysfunction in tetanus

    African Journals Online (AJOL)

    Opiates. In 1972, Rie and Wilson[25] reported the successful use of morphine to control autonomic dysfunction in a case of tetanus. It does not appear to act as a peripheral α-adrenergic antagonist but rather attenuates sympathetic efferent discharge within the central nervous system. Buchanan et al.[26] reported in 1979 ...

  20. An Algorithm for Autonomous Formation Obstacle Avoidance

    Science.gov (United States)

    Cruz, Yunior I.

    The level of human interaction with Unmanned Aerial Systems varies greatly from remotely piloted aircraft to fully autonomous systems. In the latter end of the spectrum, the challenge lies in designing effective algorithms to dictate the behavior of the autonomous agents. A swarm of autonomous Unmanned Aerial Vehicles requires collision avoidance and formation flight algorithms to negotiate environmental challenges it may encounter during the execution of its mission, which may include obstacles and chokepoints. In this work, a simple algorithm is developed to allow a formation of autonomous vehicles to perform point to point navigation while avoiding obstacles and navigating through chokepoints. Emphasis is placed on maintaining formation structures. Rather than breaking formation and individually navigating around the obstacle or through the chokepoint, vehicles are required to assemble into appropriately sized/shaped sub-formations, bifurcate around the obstacle or negotiate the chokepoint, and reassemble into the original formation at the far side of the obstruction. The algorithm receives vehicle and environmental properties as inputs and outputs trajectories for each vehicle from start to the desired ending location. Simulation results show that the algorithm safely routes all vehicles past the obstruction while adhering to the aforementioned requirements. The formation adapts and successfully negotiates the obstacles and chokepoints in its path while maintaining proper vehicle separation.

  1. Cardiovascular autonomic neuropathy in non-diabetic

    African Journals Online (AJOL)

    atria tachycardia and ventricular ectopics), unstable blood pressure, postural hypotension, nocturnal ..... cardiac arrhythmias due to the unopposed sympathetic acitviity.3132 Although in uremic conditions the disturbed ... Also the occurrence of normal pulse volume in the patients suggested that autonomic impairment rather ...

  2. Integrating the autonomous subsystems management process

    Science.gov (United States)

    Ashworth, Barry R.

    1992-01-01

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

  3. A polling model with an autonomous server

    NARCIS (Netherlands)

    de Haan, Roland; Boucherie, Richardus J.; van Ommeren, Jan C.W.

    2009-01-01

    This paper considers polling systems with an autonomous server that remain at a queue for an exponential amount of time before moving to a next queue incurring a generally distributed switch-over time. The server remains at a queue until the exponential visit time expires, also when the queue

  4. Elements of Autonomous Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan

    however, it is challenging to realize such characteristics since state-of-the-art systems and solutions suffer from several inherent technical and theoretical problems and limitations. In this thesis, we address these challenges by exploring four central elements of autonomous self-reconfigurable modular...

  5. Autonomous biomorphic robots as platforms for sensors

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-10-01

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

  6. Autonomous Renewable Energy Systems | Van Voorden | Nigerian ...

    African Journals Online (AJOL)

    The problems of having many renewable sources such as wind and solar generating units in a power system are uncontrollable fluctuations in power generation and the difficulty in forecasting the power generation capability of these sources due to their stochastic nature. Therefore, autonomous electricity systems with a ...

  7. Control algorithms for autonomous robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Jorgensen, C.C.

    1985-09-20

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

  8. Intelligent Autonomous Systems 11: IAS-11

    NARCIS (Netherlands)

    Christensen, H.I.; Groen, F.; Petriu, E.

    2010-01-01

    This volume contains the proceedings of the eleventh International Conference on Intelligent Autonomous Systems (IAS-11) at the University of Ottawa in Canada. As ever, the purpose of the IAS conference is to bring together leading international researchers with an interest in all aspects of the

  9. Autonomous behavior of hematopoietic stem cells

    NARCIS (Netherlands)

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

    2000-01-01

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

  10. Autonomic changes in fibromyalgia: Clinical and ...

    African Journals Online (AJOL)

    Noha El-Sawy

    2012-03-14

    Mar 14, 2012 ... Abstract Background: Autonomic nervous system (ANS) dysfunction is one of the suggested pathophysiological mechanisms of fibromyalgia (FM). Its dysfunction may contribute to enhanced pain and other clinical problems associated with FM. Previous studies showed conflicting results regarding ANS ...

  11. Bio-inspired Autonomic Structures: a middleware for Telecommunications Ecosystems

    Science.gov (United States)

    Manzalini, Antonio; Minerva, Roberto; Moiso, Corrado

    Today, people are making use of several devices for communications, for accessing multi-media content services, for data/information retrieving, for processing, computing, etc.: examples are laptops, PDAs, mobile phones, digital cameras, mp3 players, smart cards and smart appliances. One of the most attracting service scenarios for future Telecommunications and Internet is the one where people will be able to browse any object in the environment they live: communications, sensing and processing of data and services will be highly pervasive. In this vision, people, machines, artifacts and the surrounding space will create a kind of computational environment and, at the same time, the interfaces to the network resources. A challenging technological issue will be interconnection and management of heterogeneous systems and a huge amount of small devices tied together in networks of networks. Moreover, future network and service infrastructures should be able to provide Users and Application Developers (at different levels, e.g., residential Users but also SMEs, LEs, ASPs/Web2.0 Service roviders, ISPs, Content Providers, etc.) with the most appropriate "environment" according to their context and specific needs. Operators must be ready to manage such level of complication enabling their latforms with technological advanced allowing network and services self-supervision and self-adaptation capabilities. Autonomic software solutions, enhanced with innovative bio-inspired mechanisms and algorithms, are promising areas of long term research to face such challenges. This chapter proposes a bio-inspired autonomic middleware capable of leveraging the assets of the underlying network infrastructure whilst, at the same time, supporting the development of future Telecommunications and Internet Ecosystems.

  12. Effects of insula resection on autonomic nervous system activity

    NARCIS (Netherlands)

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

    2016-01-01

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

  13. Autonomous Reactive Mission Scheduling and Task-Path Planning Architecture for Autonomous Underwater Vehicle

    OpenAIRE

    Zadeh, Somaiyeh Mahmoud

    2017-01-01

    An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to perform effective persistent deployment in longer missions. Task assignment requires making decisions subject to resource constraints, while tasks are assigned with costs and/or values that are budgeted in advance. Tasks are distributed in a particular oper...

  14. The Conductor of the Autonomic Orchestra

    Directory of Open Access Journals (Sweden)

    Aaron eVinik

    2012-06-01

    Full Text Available Abstract Bad Bedfellows - Autonomic Dysfunction, Inflammation and Diabetes! Are they related? How? Evidence suggests the activation of inflammatory cytokines like IL-6 and TNFα in newly-diagnosed type 2 diabetes and that the inflammatory change correlates with abnormalities in sympatho-vagal balance. Dysfunction of the autonomic system predicts cardiovascular risk and sudden death in patients with type 2 diabetes. It occurs in prediabetes, providing opportunities for early intervention. The importance of recognizing autonomic dysfunction as a predictor of morbidity and mortality with intensification of treatment suggests that all patients with type 2 diabetes at onset, and those with type 1 diabetes after five years should be screened for autonomic imbalance. These tests can be performed at the bedside with real time output of information - within the scope of the practicing physician - facilitates diagnosis and allows the application of sound strategies for management. The window of opportunity for aggressive control of all the traditional risk factors for cardiovascular events or sudden death with intensification of therapy is with short duration diabetes, the absence of cardiovascular disease and a history of severe hypoglycemic events. To this list we can now add autonomic dysfunction and neuropathy, which have become the most powerful predictors of risk for mortality. It seems prudent that practitioners should be encouraged to become familiar with this information and apply risk stratification in clinical practice. After all, how difficult is it to ask patients do you have numb feet? and to determine their HRV – it could be lifesaving. Ultimately methods to reset the hypothalamus and the inflammatory cascade are needed if we are to impact the care of patients with this compendium of conditions.

  15. Exercise and the autonomic nervous system.

    Science.gov (United States)

    Fu, Qi; Levine, Benjamin D

    2013-01-01

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

  16. An Ontology-Based Autonomic System for Improving Data Warehouses by Cache Allocation Management

    OpenAIRE

    Nicolicin-Georgescu, Vlad; Benatier, Vincent; Lehn, Rémi; Briand, Henri

    2009-01-01

    International audience; With the increase in the amount and complexity of information, data warehouse performance has become a constant issue, especially for decision support systems. As a consequence, decision experts are faced with the management of all this information, and thus realize that special techniques are required to keep good performances. This paper proposes an approach to data warehouse systems improvement based on Autonomic Computing. The idea is that by rendering certain task...

  17. Autonomous Navigation, Dynamic Path and Work Flow Planning in Multi-Agent Robotic Swarms Project

    Science.gov (United States)

    Falker, John; Zeitlin, Nancy; Leucht, Kurt; Stolleis, Karl

    2015-01-01

    Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots, called Swarmies, to be used as a ground-based research platform for in-situ resource utilization missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in an unknown environment and return those resources to a central site.

  18. Captain Buzz: An All-Smartphone Autonomous Delta-Wing Drone

    OpenAIRE

    Faragher, Ramsey M.; Chick, Oliver R. A.; Wagner, Daniel T.; Goh, Timothy; Snee, James; Jones, Brian

    2015-01-01

    This is the author accepted manuscript. The final version is available from ACM at https://dl.acm.org/citation.cfm?id=2750682. Fully autonomous hobbyist drones are typically controlled using bespoke microcontrollers, or general purpose low-level controllers such as the Arduino. However, these devices only have limited compute power and sensing capabilities, and do not easily provide cellular connectivity options. We present Captain Buzz, an Android smartphone app capable ...

  19. Research on autonomous identification of airport targets based on Gabor filtering and Radon transform

    Science.gov (United States)

    Yi, Juan; Du, Qingyu; Zhang, Hong jiang; Zhang, Yao lei

    2017-11-01

    Target recognition is a leading key technology in intelligent image processing and application development at present, with the enhancement of computer processing ability, autonomous target recognition algorithm, gradually improve intelligence, and showed good adaptability. Taking the airport target as the research object, analysis the airport layout characteristics, construction of knowledge model, Gabor filter and Radon transform based on the target recognition algorithm of independent design, image processing and feature extraction of the airport, the algorithm was verified, and achieved better recognition results.

  20. NASA's computer science research program

    Science.gov (United States)

    Larsen, R. L.

    1983-01-01

    Following a major assessment of NASA's computing technology needs, a new program of computer science research has been initiated by the Agency. The program includes work in concurrent processing, management of large scale scientific databases, software engineering, reliable computing, and artificial intelligence. The program is driven by applications requirements in computational fluid dynamics, image processing, sensor data management, real-time mission control and autonomous systems. It consists of university research, in-house NASA research, and NASA's Research Institute for Advanced Computer Science (RIACS) and Institute for Computer Applications in Science and Engineering (ICASE). The overall goal is to provide the technical foundation within NASA to exploit advancing computing technology in aerospace applications.

  1. Planning Computer-Aided Distance Learning

    Directory of Open Access Journals (Sweden)

    Nadja Dobnik

    1996-12-01

    Full Text Available Didactics of autonomous learning changes under the influence of new technologies. Computer technology can cover all the functions that a teacher develops in personal contact with the learner. People organizing distance learning must realize all the possibilities offered by computers. Computers can take over and also combine the functions of many tools and systems, e. g. type­ writer, video, telephone. This the contents can be offered in form of classic media by means of text, speech, picture, etc. Computers take over data pro­cessing and function as study materials. Computer included in a computer network can also function as a medium for interactive communication.

  2. Computational intelligence and neuromorphic computing potential for cybersecurity applications

    Science.gov (United States)

    Pino, Robinson E.; Shevenell, Michael J.; Cam, Hasan; Mouallem, Pierre; Shumaker, Justin L.; Edwards, Arthur H.

    2013-05-01

    In today's highly mobile, networked, and interconnected internet world, the flow and volume of information is overwhelming and continuously increasing. Therefore, it is believed that the next frontier in technological evolution and development will rely in our ability to develop intelligent systems that can help us process, analyze, and make-sense of information autonomously just as a well-trained and educated human expert. In computational intelligence, neuromorphic computing promises to allow for the development of computing systems able to imitate natural neurobiological processes and form the foundation for intelligent system architectures.

  3. Computation Environments (2) Persistently Evolutionary Semantics

    OpenAIRE

    Ramezanian, Rasoul

    2012-01-01

    In the manuscript titled "Computation environment (1)", we introduced a notion called computation environment as an interactive model for computation and complexity theory. In this model, Turing machines are not autonomous entities and find their meanings through the interaction between a computist and a universal processor, and thus due to evolution of the universal processor, the meanings of Turing machines could change. In this manuscript, we discuss persistently evolutionary intensions. W...

  4. Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter

    NARCIS (Netherlands)

    Hiremath, S.A.; Heijden, van der G.W.A.M.; Evert, van F.K.; Stein, A.; Braak, ter C.J.F.

    2014-01-01

    Autonomous navigation of robots in an agricultural environment is a difficult task due to the inherent uncertainty in the environment. Many existing agricultural robots use computer vision and other sensors to supplement Global Positioning System (GPS) data when navigating. Vision based methods are

  5. Hemicrania continua with contralateral cranial autonomic features: a case report.

    Science.gov (United States)

    Prakash, Sanjay; Rathore, Chaturbhuj; Makwana, Prayag

    2015-03-11

    Hemicrania continua is characterized by continuous strictly unilateral head pain with episodic exacerbations. Episodic exacerbations are associated with ipsilateral cranial autonomic features. We report a 24-year female with a 2-year history of continuous right-sided headache with superimposed exacerbations. Episodic exacerbations were associated with marked agitation and contralateral cranial autonomic features. The patient showed a complete response to indomethacin within 8 hours. The dichotomy of pain and autonomic features is in accordance with the concept about the possibility of two separate pathways for pain and autonomic features in trigeminal autonomic cephalalgias.

  6. Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

    Directory of Open Access Journals (Sweden)

    Hongbo Gao

    2017-12-01

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

  7. The Role of Grid Computing Technologies in Cloud Computing

    Science.gov (United States)

    Villegas, David; Rodero, Ivan; Fong, Liana; Bobroff, Norman; Liu, Yanbin; Parashar, Manish; Sadjadi, S. Masoud

    The fields of Grid, Utility and Cloud Computing have a set of common objectives in harnessing shared resources to optimally meet a great variety of demands cost-effectively and in a timely manner Since Grid Computing started its technological journey about a decade earlier than Cloud Computing, the Cloud can benefit from the technologies and experience of the Grid in building an infrastructure for distributed computing. Our comparison of Grid and Cloud starts with their basic characteristics and interaction models with clients, resource consumers and providers. Then the similarities and differences in architectural layers and key usage patterns are examined. This is followed by an in depth look at the technologies and best practices that have applicability from Grid to Cloud computing, including scheduling, service orientation, security, data management, monitoring, interoperability, simulation and autonomic support. Finally, we offer insights on how these techniques will help solve the current challenges faced by Cloud computing.

  8. Development of autonomous grasping and navigating robot

    Science.gov (United States)

    Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

    2015-01-01

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

  9. Iatrogenic urological triggers of autonomic dysreflexia

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  10. Capacitive coupling synchronizes autonomous microfluidic oscillators.

    Science.gov (United States)

    Lesher-Perez, Sasha Cai; Zhang, Chao; Takayama, Shuichi

    2018-01-31

    Even identically-designed autonomous microfluidic oscillators have device-to-device oscillation variability that arises due to inconsistencies in fabrication, materials, and operation conditions. This work demonstrates, experimentally and theoretically, that with appropriate capacitive coupling these microfluidic oscillators can be synchronized. The size and characteristics of the capacitive coupling needed and the range of input flow rate differences that can be synchronized are also characterized. In addition to device-to-device variability, there is also within-device oscillation noise that arises. An additional advantage of coupling multiple fluidic oscillators together is that the oscillation noise decreases. The ability to synchronize multiple autonomous oscillators is also a first step towards enhancing their usefulness as tools for biochemical research applications where multiplicate experiments with identical temporal-stimulation conditions are required. This article is protected by copyright. All rights reserved. This article is protected by copyright. All rights reserved.

  11. Towards Autonomous Control of HVAC Systems

    DEFF Research Database (Denmark)

    Brath, P.

    autonomous control. Together with better tuned controllers and more dedicated control it would be possible to decrease the energy consumption, save money and increase the indoor air climate. A flexible HVAC test system was designed and implemented. Standard components and sensors were used in the design......This thesis considered development of an autonomous control system for heating ventilation and air conditioning applications. By including auto-tuning, adaptation, diagnosis and supervision functions in the control system used in the HVAC industry will move the control of HVAC systems towards...... of the system, in order to achieve a realistic test environment. A new scheme for controlling the inlet air temperature was suggested and designed as a part of a cascade control strategy. The control scheme developed can be used in general for control of the inlet air temperature in an air handling unit. A room...

  12. Wavefront Propagation and Fuzzy Based Autonomous Navigation

    Directory of Open Access Journals (Sweden)

    Adel Al-Jumaily

    2005-06-01

    Full Text Available Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments.

  13. Mobile Robot Designed with Autonomous Navigation System

    Science.gov (United States)

    An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

    2017-10-01

    With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

  14. Autonomous Self-Control is Less Depleting

    Science.gov (United States)

    Muraven, Mark

    2008-01-01

    Autonomously motivated self-control may be less depleting than extrinsically motivated self-control. Participants were asked to not eat cookies and their motivation orientation for resisting that temptation was assessed. Their self-control performance was assessed immediately before and after fighting the temptation. As compared to their baseline performance, participants who avoided eating the cookies for more autonomous performed better at the second measure relative to participants who did not eat for more extrinsic reasons. Mood, arousal, and demographic factors were not related to self-control performance and feelings of autonomy. Overall, it appears that feeling compelled to exert self-control may deplete more strength than having more freedom when exerting self-control. The results may increase our understanding of how self-control strength and feelings of autonomy interact. PMID:18704202

  15. Grid administration: towards an autonomic approach

    CERN Document Server

    Ubeda Garcia, M; Tsaregorodtsev, A; Charpentier, P; Bernardof, V

    2012-01-01

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

  16. Forced synchronization of autonomous dynamical Boolean networks

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-08-15

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

  17. Auditory stimulation and cardiac autonomic regulation

    Directory of Open Access Journals (Sweden)

    Vitor E. Valenti

    2012-08-01

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

  18. Autonomous Rovers for Polar Science Campaigns

    Science.gov (United States)

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

    2012-12-01

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

  19. Wavefront Propagation and Fuzzy Based Autonomous Navigation

    Directory of Open Access Journals (Sweden)

    Cindy Leung

    2008-11-01

    Full Text Available Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments.

  20. Autonomous microexplosives subsurface tracing system final report.

    Energy Technology Data Exchange (ETDEWEB)

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

    2004-04-01

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

  1. 13th International Conference Intelligent Autonomous Systems

    CERN Document Server

    Michael, Nathan; Berns, Karsten; Yamaguchi, Hiroaki

    2016-01-01

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

  2. Fuzzy logic in autonomous orbital operations

    Science.gov (United States)

    Lea, Robert N.; Jani, Yashvant

    1991-01-01

    Fuzzy logic can be used advantageously in autonomous orbital operations that require the capability of handling imprecise measurements from sensors. Several applications are underway to investigate fuzzy logic approaches and develop guidance and control algorithms for autonomous orbital operations. Translational as well as rotational control of a spacecraft have been demonstrated using space shuttle simulations. An approach to a camera tracking system has been developed to support proximity operations and traffic management around the Space Station Freedom. Pattern recognition and object identification algorithms currently under development will become part of this camera system at an appropriate level in the future. A concept to control environment and life support systems for large Lunar based crew quarters is also under development. Investigations in the area of reinforcement learning, utilizing neural networks, combined with a fuzzy logic controller, are planned as a joint project with the Ames Research Center.

  3. Autonomous System Technologies for Resilient Airspace Operations

    Science.gov (United States)

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

    2017-01-01

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

  4. Concept for practical exercises for studying autonomous flying robots in a university environment: part II

    Science.gov (United States)

    Gageik, Nils; Dilger, Erik; Montenegro, Sergio; Schön, Stefan; Wildenhein, Rico; Creutzburg, Reiner; Fischer, Arno

    2015-03-01

    The present paper demonstrates the application of quadcopters as educational material for students in aerospace computer science, as it is already in usage today. The work with quadrotors teaches students theoretical and practical knowledge in the fields of robotics, control theory, aerospace and electrical engineering as well as embedded programming and computer science. For this the material, concept, realization and future view of such a course is discussed in this paper. Besides that, the paper gives a brief overview of student research projects following the course, which are related to the research and development of fully autonomous quadrotors.

  5. Technology Needs for Air Force Autonomous Spacecraft

    Science.gov (United States)

    1982-03-16

    Jet Propulsion Laboratory’s (JPL) Autonomous Spacecraft Project (ASP). Accession For IT " .. . cation ;; 4b Dist-4 ! Aion / Avn ’l!ity Codes .,iml and/or...technologies in different major headings cannot be made. INDEX C.1 System Design, Programming, and Validation Technology C.1.1 Autonomy Methodology C.1.2...interfacou, raduw.LAncy and programming. There are some configurations which are both centralized and distributed and therefore have different characteristics

  6. Respiration and Autonomic Regulation and Orexin

    OpenAIRE

    Nattie, Eugene; Li, Aihua

    2012-01-01

    Orexin, a small neuropeptide released from neurons in the hypothalamus with widespread projections throughout the central nervous system, has broad biological roles including the modulation of breathing and autonomic function. That orexin activity is fundamentally dependent on sleep-wake state and circadian cycle requires consideration of orexin function in physiological control systems in respect to these two state-related activity patterns. Both transgenic mouse studies and focal orexin rec...

  7. Precise laser gyroscope for autonomous inertial navigation

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-01-31

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

  8. Autonomous Sustain and Resupply, Phase 1 Report

    Science.gov (United States)

    2008-10-01

    makes the convergence process more organized in a certain mathematical sense. Our group has done some recent work on this problem. In [100, 98] Zebrowski...qualitative failure of our simulations to agree at the heart of the matter : that interference affects a growing population later when the individuals...pages 1513-1514, Acapulco , Mexico, 2003. [15] Rodney A. Brooks. Elephants don’t play chess. Robotics and Autonomous Systems, 6(1&2):3-15, June 1990

  9. Autonomous Robot Control via Autonomy Levels (ARCAL)

    Science.gov (United States)

    2015-08-21

    10 LINCOLN LABORATORY JOURNAL ■ VOLUME 22, 2015 Autonomous Robot Control via Autonomy Levels (ARCAL) Lawrence A.M. Bush and Andrew Wang In the...Adjustable autonomy technolo- gies, concepts, and simulation environments to evaluate teaming behaviors will enable researchers to develop these systems...A damaged nuclear energy facility also Unmanned aircraft systems (UAS) need to handle more autonomy and perform more intelligent behaviors. These

  10. Feasible Path Planning for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Vu Trieu Minh

    2014-01-01

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

  11. A memory model for autonomous virtual humans

    OpenAIRE

    Peters, Christopher; O'SULLIVAN, CAROL ANN

    2002-01-01

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

  12. Science Operations for Onboard Autonomous Rover Science

    Science.gov (United States)

    Estlin, T.; Castano, R.; Haldemann, A. F.; McHenry, M.; Bornstein, B.; Gaines, D.; Burl, M.; Anderson, R. C.; Powell, M.; Shu, I.; Farr, T.; Nesnas, I.; Jain, A.; Judd, M.

    2006-12-01

    Onboard autonomous science represents one means to balance the large amounts of scientific data that current and future rovers can acquire with the limited ability to download it to Earth. Several systems are under development to perform autonomous rover science. The use of such systems represents a departure from standard operations, which closely resemble batch tele-operation. It is important for the science operations team to understand the capabilities and limitations of the onboard system to effectively use the tool of autonomous onboard science to increase overall mission science return, however it is difficult for the science team to get a feel for the onboard system without hands on experience in an operational system setting. This past year, the OASIS (Onboard Autonomous Science Investigation System) team has been working with the SOOPS (Science Operations On Planetary Surfaces) task to investigate how science returns for surface missions can be improved through the use of science autonomy. A limited version of OASIS was tested at the system level. The test involved a high-fidelity software simulation of a rover exploring a remote terrain using realistic operational interfaces. By using the simulation environment it is feasible to run many more experiments than testing with physical rover. Further, the simulation environment combined with the integrated operational system provides situational awareness for the science operations team along with greater flexibility and control over experiments to help answer "what if" questions that can lead to identifying the most effective ways to use the onboard system. In the tests, OASIS applied predetermined criteria provided by the scientists to prioritize which data collected during a traverse to send home, given specified bandwidth constraints. In addition, rock summary information (which requires very little bandwidth) was returned and provided as both a table and a map to the science team. We discuss the results

  13. Flocking algorithm for autonomous flying robots.

    Science.gov (United States)

    Virágh, Csaba; Vásárhelyi, Gábor; Tarcai, Norbert; Szörényi, Tamás; Somorjai, Gergő; Nepusz, Tamás; Vicsek, Tamás

    2014-06-01

    Animal swarms displaying a variety of typical flocking patterns would not exist without the underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in their control algorithms. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour requires thorough and realistic modeling of the robot and also the environment. In this paper, we first present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results on the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters. In our case, bio-inspiration works in two ways. On the one hand, the whole idea of trying to build and control a swarm of robots comes from the observation that birds tend to flock to optimize their behaviour as a group. On the other hand, by using a realistic simulation framework and studying the group behaviour of autonomous robots we can learn about the major factors influencing the flight of bird flocks.

  14. Towards artificial situation awareness by autonomous vehicles

    OpenAIRE

    McAree, O.; Aitken, J M; Veres, S.M.

    2017-01-01

    This paper presents a novel approach to artificial situation awareness for an autonomous vehicle operating in complex dynamic environments populated by other agents. A key aspect of situation awareness is the use of mental models to predict future states of the environment, allowing safe and rational routing decisions to be made. We present a technique for predicting future discrete state transitions (such as the commencement of a turn) by other agents, based upon an uncertain mental model. P...

  15. Autonomic regulation in Fragile X Syndrome

    OpenAIRE

    Heilman, Keri J.; Harden, Emily R.; Zageris, Danielle M.; Berry-Kravis, Elizabeth; Porges, Stephen W.

    2011-01-01

    Autonomic reactivity was studied in individuals with fragile X syndrome (FXS), a genetic disorder partially characterized by abnormal social behavior. Relative to age-matched controls, the FXS group had faster baseline heart rate and lower amplitude respiratory sinus arrhythmia (RSA). In contrast to the typically developing controls, there was a decrease in RSA with age within the FXS group. Moreover, within the FXS group heart rate did not slow with age. The FXS group also responded with an ...

  16. Autonomic nervous system function in Huntington's disease.

    Science.gov (United States)

    Andrich, J; Schmitz, T; Saft, C; Postert, T; Kraus, P; Epplen, J T; Przuntek, H; Agelink, M W

    2002-06-01

    To investigate whether Huntington's disease (HD) affects autonomic nervous system (ANS) functioning. Twenty patients with HD who had positive genetic test results underwent standardised ANS function tests including sympathetic skin responses (SSRs) of the hands and feet, measurements of heart rate variability (HRV), both during five minutes of resting and deep respiration, and an orthostatic blood pressure test. Patients were classified according to the motor subscale of the unified Huntington's disease rating scale (UHDRS; mean (SD) score 26.4 (13.6)) and divided into two subgroups: UHDRS or =25 points (mid stages, M-HD). Autonomic indices were compared with those obtained for a group of well matched healthy controls (n=60). Overall, patients showed lower HRV indices than controls. Multivariate analysis with the independent factor of "group" (controls, E-HD, M-HD) showed a significant group effect on both the high frequency power (F=4.32, p=0.017) and the coefficient of variation (F=4.23, p=0.018), indicating a significant reduction in vagal modulation in the M-HD group. There was a shift in autonomic neurocardiac balance towards sympathetic predominance in the M-HD group compared with controls (F=2.89, p=0.062). Moreover, we found an inverse correlation between the severity of clinical HD symptoms (assessed by the UHDRS) and the modulation of cardiovagal activity (p=0.028). Vagal dysregulation was present in two patients; one of them also showed a pathological blood pressure test and a latency prolongation in the SSRs of the hands. Two other patients had pathologically reduced SSR amplitudes. Only patients of the M-HD group were affected. Autonomic dysfunction is present even in the middle stages of HD and affects both the sympathetic and parasympathetic branch of the ANS.

  17. Chemomechanical Characterization of Autonomic Polyacrylamide Gels

    Science.gov (United States)

    Smith, Matthew; Heitfeld, Kevin; Kramb, Ryan; Tchoul, Maxim; Gallagher, Daniel; Vaia, Richard

    2011-03-01

    Autonomic behavior is a distinctive attribute of complex biological systems. Like biological tissue, self-oscillating hydrogels driven by the Belousov-Zhabotinsky (BZ) reaction can convert chemical signals into a mechanical response. Under appropriate conditions BZ gels exhibit sustained mechanical swell-deswell oscillations; and arrays of these gels have the potential to form networks of coupled oscillators. One of the key challenges to developing criteria for device design and assessing practical performance limits of these materials is the need for detailed knowledge of the chemomechanical characteristics of the BZ gels at various states of autonomic behavior. Recently we developed an easily synthesized BZ gel system based on polyacrylamide. Here in, the swell-deswell amplitude, mechanical forces produced during uniform oscillations, and the chemical response to external loads are discussed in context with current poly(N-isopropylacrylamide)-based systems. These studies establish the parameter space leading to robust chemomechanical oscillations and provide an experimental foundation to refine currently available theoretical models to guide the design of autonomic materials and devices.

  18. Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer

    Directory of Open Access Journals (Sweden)

    Douglas G. Macharet

    2016-12-01

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

  19. Autonomic Cardiovascular Adaptation to Prolonged Spaceflight

    Science.gov (United States)

    Couckuyt, Kurt; Verheyden, Bart; Liu, Jiexin; Aubert, Andre E.

    2008-06-01

    In this study, the evolution of autonomic cardiovascular modulation during 6 months of weightlessness was investigated. Six male astronauts participated in the study. Each astronaut performed the experiments 4 times during their stay on board of the ISS, on day 10, day 60, day 100 and day 160 after launch. Preflight reference measurements in supine and standing position were performed 30 days before launch. We hypothesized that during prolonged stay in space, autonomic cardiovascular control would adapt to changes in the cardiovascular system and total blood volume, reaching a new operating point. Autonomic cardiovascular control in the early stage of the space mission was comparable with pre-flight supine condition. Surprisingly, there was no evolution in heart rate, baroreflex and heart rate variability over 6 months of weightlessness. Mean and diastolic blood pressure were also equal to pre-flight supine pressures at the beginning of the space mission. However, mean and diastolic blood pressure increased during prolonged stay in space. This increase could be caused by structural adaptation of the vasculature to weightlessness.

  20. [Autonomic profile of patients with migraine].

    Science.gov (United States)

    Benjelloun, H; Birouk, N; Slaoui, I; Coghlan, L; Bencheikh, B Oulad Amar; Jroundi, I; Benomar, M

    2005-10-01

    Dysfunction of autonomic nervous system (ANS) is implicated in the genesis and persistence of migraine. The objective of this study was to compare autonomic nervous system (ANS) profile of migraineurs during headache-free periods to a group of normal subjects based on cardio-vascular reactivity. Patients with migraine according to the criteria of IHS 2004 were selected for the study. After a 30 min resting blood pressure (BP), the following standard tests were performed: deep-breathing (DB), hand grip (HG) of 15 s and 3 min, valsalva maneuver, echo stress, (ES) and tilt test (TT). Results were compared to 44 normal subjects, age similar, 37 female, (84.1%) using the Student test, with P < 0.005 as significant. Thirty-two patients (27 female (84.38%), 16-51 years, mean 40.41 +/- 7.8) were studied. Twenty-two patients (69%) had systolic blood pressure below 94 mmHg and 25 patients (78%) had diastolic blood pressure below 60 mmHg. Compared to normal, migraineurs exhibited a significantly higher vagal response (P < 0.001) and a significantly lower alpha sympathetic response, central by using ES as well as peripheral by using HG of 3 min (P < 0.001). Autonomic cardiovascular reactivity of patients with migraine showed a vagal hyperactivity and a deficiency of the alpha sympathetic system. This leads to further studies with new therapeutical approaches.

  1. Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer

    Science.gov (United States)

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

    2016-01-01

    Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs). We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly. PMID:27999307

  2. Autonomous navigation for structured exterior environments

    Energy Technology Data Exchange (ETDEWEB)

    Pletta, J B

    1993-12-01

    The Telemanaged Mobile Security Station (TMSS) was developed at Sandia National Laboratories to investigate the role of mobile robotics in exterior perimeter security systems. A major feature of the system is its capability to perform autonomous patrols of the security site`s network of roads. Perimeter security sites are well known, structured environments; the locations of the roads, buildings, and fences are relatively static. A security robot has the advantage of being able to learn its new environment prior to autonomous travel. The TMSS robot combines information from a microwave beacon system and on-board dead reckoning sensors to determine its location within the site. The operator is required to teleoperate the robot in a teach mode over all desired paths before autonomous operations can commence. During this teach phase, TMSS stores points from its position location system at two meter intervals. This map data base is used for planning paths and for reference during path following. Details of the position location and path following systems will be described along with system performance and recommendations for future enhancements.

  3. Hemicrania continua. Unquestionably a trigeminal autonomic cephalalgia.

    Science.gov (United States)

    Vincent, Maurice B

    2013-05-01

    Hemicrania continua (HC) is a well-known primary headache. The present version of the International Classification of Headache Disorders lists HC in the "other primary headaches" group. However, evidence has emerged demonstrating that HC is a phenotype that belongs to the trigeminal autonomic cephalalgias together with cluster headache, paroxysmal hemicrania (PH), and short-lasting, unilateral neuralgiform headache attacks with conjunctival injection and tearing. This is supported by a common general clinical picture - paroxysmal, fluctuating, unilateral, side-locked headaches located to the ocular, frontal, and/or temporal regions, accompanied by ipsilateral autonomic dysfunctions including for example, tearing and conjunctival injection. Apart from the remarkable clinical similarities, the absolute and incomparable effect of indomethacin in HC parallels the effect of this drug in PH, suggesting a shared core pathogenesis. Finally, neuroimage findings demonstrate a posterior hypothalamic activation in HC similarly to cluster headache, PH, and short-lasting, unilateral neuralgiform headache attacks with conjunctival injection and tearing. Taken together, data indicate that HC is certainly a type of trigeminal autonomic cephalalgia that should no longer be placed in a group of miscellaneous primary headache disorders. © 2013 American Headache Society.

  4. The autonomic nervous system and renal physiology

    Directory of Open Access Journals (Sweden)

    D'Elia JA

    2013-08-01

    Full Text Available John A D'Elia,1,2 Larry A Weinrauch1,2 1Joslin Diabetes Center, Beth Israel Deaconess Medical Center, Boston, MA, USA; 2Department of Medicine, Harvard Medical School, Boston, MA, USA Abstract: Research in resistant hypertension has again focused on autonomic nervous system denervation – 50 years after it had been stopped due to postural hypotension and availability of newer drugs. These (ganglionic blockers drugs have all been similarly stopped, due to postural hypotension and yet newer antihypertensive agents. Recent demonstration of the feasibility of limited regional transcatheter sympathetic denervation has excited clinicians due to potential therapeutic implications. Standard use of ambulatory blood pressure recording equipment may alter our understanding of the diagnosis, potential treatment strategies, and health care outcomes – when faced with patients whose office blood pressure remains in the hypertensive range – while under treatment with three antihypertensive drugs at the highest tolerable doses, plus a diuretic. We review herein clinical relationships between autonomic function, resistant hypertension, current treatment strategies, and reflect upon the possibility of changes in our approach to resistant hypertension. Keywords: resistant hypertension, renal sympathetic ablation, autonomic nervous system, ambulatory blood pressure monitoring, blood pressure control

  5. Reference test courses for autonomous mobile robots

    Science.gov (United States)

    Jacoff, Adam; Messina, Elena; Evans, John

    2001-09-01

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

  6. Autonomic Dysfunction after Mild Traumatic Brain Injury

    Science.gov (United States)

    Esterov, Dmitry; Greenwald, Brian D.

    2017-01-01

    A mild traumatic brain injury (mTBI) is a complex pathophysiologic process that has a systemic effect on the body aside from solely an impairment in cognitive function. Dysfunction of the autonomic nervous system (ANS) has been found to induce abnormalities in organ systems throughout the body, and may contribute to cardiovascular dysregulation and increased mortality. Autonomic dysfunction, also known as dysautonomia, has been studied in moderate and severe TBI, and has emerged as a major contributing factor in the symptomatology in mTBI as well. Analysis of the ANS has been studied through changes in heart rate variability (HRV), pupillary dynamics, eye pressure, and arterial pulse wave in those with mild TBI. Graded exercise testing has been studied as both a method of diagnosis and as a means of recovery in those with mild TBI, especially in those with persistent symptoms. Given the studies showing persistence of autonomic dysfunction after symptomatic resolution of concussions, further research is needed to establish return to play protocols PMID:28800081

  7. Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer.

    Science.gov (United States)

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

    2016-12-17

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

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

    Science.gov (United States)

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

    2004-01-01

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

  9. State estimation for autonomous flight in cluttered environments

    Science.gov (United States)

    Langelaan, Jacob Willem

    Safe, autonomous operation in complex, cluttered environments is a critical challenge facing autonomous mobile systems. The research described in this dissertation was motivated by a particularly difficult example of autonomous mobility: flight of a small Unmanned Aerial Vehicle (UAV) through a forest. In cluttered environments (such as forests or natural and urban canyons) signals from navigation beacons such as GPS may frequently be occluded. Direct measurements of vehicle position are therefore unavailable, and information required for flight control, obstacle avoidance, and navigation must be obtained using only on-board sensors. However, payload limitations of small UAVs restrict both the mass and physical dimensions of sensors that can be carried. This dissertation describes the development and proof-of-concept demonstration of a navigation system that uses only a low-cost inertial measurement unit and a monocular camera. Micro electromechanical inertial measurements units are well suited to small UAV applications and provide measurements of acceleration and angular rate. However, they do not provide information about nearby obstacles (needed for collision avoidance) and their noise and bias characteristics lead to unbounded growth in computed position. A monocular camera can provide bearings to nearby obstacles and landmarks. These bearings can be used both to enable obstacle avoidance and to aid navigation. Presented here is a solution to the problem of estimating vehicle state (position, orientation and velocity) as well as positions of obstacles in the environment using only inertial measurements and bearings to obstacles. This is a highly nonlinear estimation problem, and standard estimation techniques such as the Extended Kalman Filter are prone to divergence in this application. In this dissertation a Sigma Point Kalman Filter is implemented, resulting in an estimator which is able to cope with the significant nonlinearities in the system equations and

  10. Autonomous Coral Reef Survey in Support of Remote Sensing

    Directory of Open Access Journals (Sweden)

    Steven G. Ackleson

    2017-10-01

    Full Text Available An autonomous surface vehicle instrumented with optical and acoustical sensors was deployed in Kane'ohe Bay, HI, U.S.A., to provide high-resolution, in situ observations of coral reef reflectance with minimal human presence. The data represented a wide range in bottom type, water depth, and illumination and supported more thorough investigations of remote sensing methods for identifying and mapping shallow reef features. The in situ data were used to compute spectral bottom reflectance and remote sensing reflectance, Rrs,λ, as a function of water depth and benthic features. The signals were used to distinguish between live coral and uncolonized sediment within the depth range of the measurements (2.5–5 m. In situRrs, λ were found to compare well with remotely sensed measurements from an imaging spectrometer, the Airborne Visible and Infrared Imaging Spectrometer (AVIRIS, deployed on an aircraft at high altitude. Cloud cover and in situ sensor orientation were found to have minimal impact on in situRrs, λ, suggesting that valid reflectance data may be collected using autonomous surveys even when atmospheric conditions are not favorable for remote sensing operations. The use of reflectance in the red and near infrared portions of the spectrum, expressed as the red edge height, REHλ, was investigated for detecting live aquatic vegetative biomass, including coral symbionts and turf algae. The REHλ signal from live coral was detected in Kane'ohe Bay to a depth of approximately 4 m with in situ measurements. A remote sensing algorithm based on the REHλ signal was defined and applied to AVIRIS imagery of the entire bay and was found to reveal areas of shallow, dense coral and algal cover. The peak wavelength of REHλ decreased with increasing water depth, indicating that a more complete examination of the red edge signal may potentially yield a remote sensing approach to simultaneously estimate vegetative biomass and bathymetry in shallow water.

  11. Aromatherapy Improves Work Performance Through Balancing the Autonomic Nervous System.

    Science.gov (United States)

    Huang, Lin; Capdevila, Lluis

    2017-03-01

    This study analyzed the efficacy of aromatherapy in improving work performance and reducing workplace stress. The initial sample comprised 42 administrative university workers (M age  = 42.21 years, standard deviation = 7.12; 10 male). All sessions were performed in a university computer classroom. The participants were randomly assigned into an aromatherapy group (AG) and a control group (CG), and they were invited to participate in a specific session only once. They were seated in front of a computer. During the intervention period, some oil diffusers were switched on and were in operation throughout the session with petitgrain essential oil for AG sessions and a neutral oil (almond) for CG sessions. At the same time, participants completed a computer task on a specific Web site typing on their keyboard until they had finished it. The single times were different for all participants and were recorded on the Web site as "performance time." Before and after the intervention, participants completed anxiety and mood state questionnaires (the Stait-Trait Anxiety Inventory [STAI] and the Profile of Mood States [POMS]). Heart-rate variability (HRV) was measured before (PRE), during (20-25 min), and after (POS) the intervention to analyze autonomic nervous system regulation. The AG performed the Web site task 2.28 min faster than the CG (p = 0.05). The two groups showed differences in the following HRV parameters: low frequency (p = 0.05), high frequency (p = 0.02), standard deviation of all RR intervals (p = 0.05), and root mean square of differences (p = 0.02). All participants in all groups showed a decrease from PRE to POST for STAI (p < 0.001), Tension-POMS (p < 0.001), and Vigour-POMS (p = 0.01) scales. Aromatherapy (inhaling petitgrain essential oil) can improve performance in the workplace. These results could be explained by an autonomic balance on the sympathetic/parasympathetic system through a combined action of the

  12. Distributed computing by oblivious mobile robots

    CERN Document Server

    Flocchini, Paola; Santoro, Nicola

    2012-01-01

    The study of what can be computed by a team of autonomous mobile robots, originally started in robotics and AI, has become increasingly popular in theoretical computer science (especially in distributed computing), where it is now an integral part of the investigations on computability by mobile entities. The robots are identical computational entities located and able to move in a spatial universe; they operate without explicit communication and are usually unable to remember the past; they are extremely simple, with limited resources, and individually quite weak. However, collectively the ro

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

    Science.gov (United States)

    Ni, Jun; Hu, Jibin

    2017-06-01

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

  14. Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

    Science.gov (United States)

    Porter, Robert D.

    2002-09-01

    The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS) The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment, It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control, A 'star sensor' CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle, The on-board computer system leverages PXI technology and a single source, simplifying systems integration, The vehicle is powered by two lead-acid batteries for completely autonomous operation, A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location and rotation angle,

  15. Basic emotions induced by odorants: a new approach based on autonomic pattern results.

    Science.gov (United States)

    Vernet-Maury, E; Alaoui-Ismaïli, O; Dittmar, A; Delhomme, G; Chanel, J

    1999-02-15

    The aim of this study was to link the effects of odorants with the emotional process, through autonomic nervous system (ANS) responses. Taking Ekman's data and our previous results into account, we tried to verify a possible evocation by odorants of some basic emotions, i.e. anger, fear, sadness, surprise, disgust and happiness. The question investigated was: would it be possible to associate any of these emotions with a pattern of autonomic responses? A total of 15 subjects inhaled five odorants: lavender, ethyl aceto acetate, camphor, acetic acid and butyric acid acting as olfactory stimuli. After inhaling the odorant, subjects were requested to fill out an 11-point hedonic scale to rate its 'pleasantness' vs. 'unpleasantness'. ANS parameters monitored were skin potential and resistance, skin blood flow and temperature, instantaneous respiratory frequency and instantaneous heart rate. Simultaneous recording of these six autonomic parameters permitted the analysis of phasic responses through specific ANS patterns. An analysis of variance made it possible to differentiate among the five odorants. Two-by-two odorant comparisons for autonomic responses using Tukey's HSD multiple comparison test only permitted differentiation between 'pleasant' and 'unpleasant' odors. Camphor was differentiated from both types. For instance, long duration responses were associated with 'unpleasant' odors whereas camphor elicited intermediate responses. Taking into account each subject's preferential channel, it was possible to associate each ANS pattern with a basic emotion by means of a decision tree. The computation of subjects' responses made it possible to associate an odorant with a basic emotion, over the whole group: lavender elicited mostly 'happiness', as did, to a lesser degree ethyl aceto acetate; camphor induced either 'happiness', 'surprise' or 'sadness' according to subjects' past histories; butyric and acetic acids mainly induced negative emotions: 'anger' and 'disgust

  16. Using Simulated Partial Dynamic Run-Time Reconfiguration to Share Embedded FPGA Compute and Power Resources across a Swarm of Unpiloted Airborne Vehicles

    Directory of Open Access Journals (Sweden)

    Kearney David

    2007-01-01

    Full Text Available We show how the limited electrical power and FPGA compute resources available in a swarm of small UAVs can be shared by moving FPGA tasks from one UAV to another. A software and hardware infrastructure that supports the mobility of embedded FPGA applications on a single FPGA chip and across a group of networked FPGA chips is an integral part of the work described here. It is shown how to allocate a single FPGA's resources at run time and to share a single device through the use of application checkpointing, a memory controller, and an on-chip run-time reconfigurable network. A prototype distributed operating system is described for managing mobile applications across the swarm based on the contents of a fuzzy rule base. It can move applications between UAVs in order to equalize power use or to enable the continuous replenishment of fully fueled planes into the swarm.

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

    Science.gov (United States)

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

    2016-11-03

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

  18. Visual Control of Autonomous Vehicle by Neural Networks Using Fuzzy-Supervised Learning

    Energy Technology Data Exchange (ETDEWEB)

    Ryoo, Young Jae [Kumho Information and Telecommunications Laboratory, Kwangju (Korea, Republic of); Lim, Young Cheol [Cheonnam National University, Kwangju (Korea, Republic of)

    1997-04-01

    This paper describes a control scheme for an autonomous vehicle with visual sensors, which uses visual information to guide itself along roadways. The control system integrates visual data into the steering servo process directly, instead of subdividing the process by geometric reasoning for a vehicle-centered representation of the road from two-dimensional visual image data. A neural network using fuzzy-supervised learning is used for determining the steering angle required to move the vanishing point and vanishing line of the road to the desired position in the camera image. The validity and the effectiveness of the proposed control scheme are confirmed by a computer simulation of the autonomous vehicle`s driving performance. (author). 12 refs., 8 figs., 4 tabs.

  19. Effects of capacity constraints on the motion pattern of an autonomous orchard sprayer

    DEFF Research Database (Denmark)

    Bochtis, D.D.; Vougioukas, S.G.; Griepentrog, Hans-Werner

    Orchard farming operations are very promising for automated systems implementation due to the semi-controlled environment that they are executed. Researches on autonomous orchard vehicles have been madden from many research teams the last years. Although, there is a lot of work that has been done...... which computes the routes that the vehicle has to follow as well as the optimal locations of the facilities in order to minimize the total operation's time. An autonomous tractor was used as the test platform. For the off-line testing of the planned operations as well as for the evaluation...... concerning the navigation of these vehicles, there is a lack of efficient mission planning for the operations that they execute. In this paper, orchard operations with capacity restrictions, such us spraying operation, are studied. For this kind of operations, a combinatorial optimization method is used...

  20. Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

    Science.gov (United States)

    Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

    2005-08-01

    An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

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

    Directory of Open Access Journals (Sweden)

    Sarantis Kyristsis

    2016-11-01

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

  2. Computational Modelling of Collaborative Resources Sharing in ...

    African Journals Online (AJOL)

    In grid computing, Grid users who submit jobs or tasks and resources providers who provide resources have different motivations when they join the Grid system. However, due to autonomy both the Grid users' and resource providers' objectives often conflict. This paper proposes autonomous hybrid resource management ...

  3. The Role of the State of the Autonomous Regions

    DEFF Research Database (Denmark)

    Humlebæk, Carsten

    This study focuses on the Statute-related parliamentary debates of the Catalan and Valencian autonomous regions and analyses the conceptions of the political communities defended by the political parties, both of Spain and of the autonomous region in question and the relationship between them. Th...... parties act in Valencia and Catalonia, respectively. Despite the complex dynamics, the results suggest that the inauguration of the Estado de las Autonomíasdid not decrease the conflict potential around the territorial organisation of Spain....

  4. Control of autonomous ground vehicles: a brief technical review

    Science.gov (United States)

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

    2017-07-01

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

  5. [Autonomic provocative tests in the differential diagnostics of neurogenic syncope].

    Science.gov (United States)

    Bort, A A; Lar'kin, V I

    2014-01-01

    To study the autonomic provision of orthostatic test in patients with neurogenic syncope. We examined 70 patients, aged from 18 to 56 years. Autonomic response was recorded by means of the autonomic index - minute volume of blood. The most informative indices were the minute volume of blood in the translation in orthostasis, minute the maximum volume of blood in the first half of orthostasis, the average minute volume of blood in the first half of the orthostasis.

  6. Organic Computing and Swarm Intelligence

    Science.gov (United States)

    Merkle, Daniel; Middendorf, Martin; Scheidler, Alexander

    The relations between swarm intelligence and organic computing are discussed in this chapter. The aim of organic computing is to design and study computing systems that consist of many autonomous components and show forms of collective behavior. Such organic computing systems (OC systems) should possess self-x properties (e.g., self-healing, self-managing, self-optimizing), have a decentralized control, and be adaptive to changing requirements of their user. Examples of OC systems are described in this chapter and two case studies are presented that show in detail that OC systems share important properties with social insect colonies and how methods of swarm intelligence can be used to solve problems in organic computing.

  7. Integration of Computational Techniques for the Modelling of Signal Transduction

    OpenAIRE

    Perez, Pedro Pablo Gonzalez; Garcia, Maura Cardenas; Gershenson, Carlos; Lagunez-Otero, Jaime

    2002-01-01

    A cell can be seen as an adaptive autonomous agent or as a society of adaptive autonomous agents, where each can exhibit a particular behaviour depending on its cognitive capabilities. We present an intracellular signalling model obtained by integrating several computational techniques into an agent-based paradigm. Cellulat, the model, takes into account two essential aspects of the intracellular signalling networks: cognitive capacities and a spatial organization. Exemplifying the functional...

  8. Intelligent Autonomous Aerial Vehicles in the National Airspace Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Unmanned aerial systems (UAS) and, in particular, intelligent, autonomous aircraft operating in the National Airspace (NAS) have the potential to significantly...

  9. Adaptive Supervisory Engine for Autonomous Formation Flying GNC Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Autonomous multiple spacecraft formation flying represents a critical enabling technology for future space missions, including NASA's Space and Earth Science...

  10. Research on Operational Aspects of Large Autonomous Underwater Glider Fleets

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

    This program supported research on the operational and management issues stemming from application of large fleets of autonomous underwater gliders to oceanographic research and rapid environmental...

  11. Amplifying human ability through autonomics and machine learning in IMPACT

    Science.gov (United States)

    Dzieciuch, Iryna; Reeder, John; Gutzwiller, Robert; Gustafson, Eric; Coronado, Braulio; Martinez, Luis; Croft, Bryan; Lange, Douglas S.

    2017-05-01

    Amplifying human ability for controlling complex environments featuring autonomous units can be aided by learned models of human and system performance. In developing a command and control system that allows a small number of people to control a large number of autonomous teams, we employ an autonomics framework to manage the networks that represent mission plans and the networks that are composed of human controllers and their autonomous assistants. Machine learning allows us to build models of human and system performance useful for monitoring plans and managing human attention and task loads. Machine learning also aids in the development of tactics that human supervisors can successfully monitor through the command and control system.

  12. Security-Enhanced Autonomous Network Management for Space Networking Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Intelligent Automation Inc. (IAI) proposes an innovative Security-Enhanced Autonomous Network Management (SEANM) scheme for reliable communication in space...

  13. GPM Ground Validation Autonomous Parsivel Unit (APU) OLYMPEX V1

    Data.gov (United States)

    National Aeronautics and Space Administration — The GPM Ground Validation Autonomous Parsivel Unit (APU) OLYMPEX dataset was collected during the OLYMPEX field campaign held at Washington's Olympic Peninsula...

  14. Maritime Training Serbian Autonomous Vessel Protection Detachment

    Directory of Open Access Journals (Sweden)

    Šoškić Svetislav D.

    2014-06-01

    Full Text Available The crisis in Somalia has caused appearance of piracy at sea in the Gulf of Aden and the Western Indian Ocean. Somali pirates have become a threat to economic security of the world because almost 30 percent of world oil and 20 percent of global trade passes through the Gulf of Aden. Solving the problem of piracy in this part of the world have included international organizations, institutions, military alliances and the states, acting in accordance with international law and UN Security Council resolutions. The European Union will demonstrate the application of a comprehensive approach to solving the problem of piracy at sea and the crisis in Somalia conducting naval operation — EU NAVFOR Atalanta and operation EUTM under the Common Security and Defense Policy. The paper discusses approaches to solving the problem of piracy in the Gulf of Aden and the crisis in Somalia. Also, the paper points to the complexity of the crisis in Somalia and dilemmas correctness principles that are applied to solve the problem piracy at sea. One of goals is protections of vessels of the World Food Programme (WFP delivering food aid to displaced persons in Somalia. Republic of Serbia joined in this mission and trained and sent one a autonomous team in this military operation for protection WFP. This paper consist the problem of modern piracy, particularly in the area of the Horn of Africa became a real threat for the safety of maritime ships and educational process of Serbian Autonomous vessel protection detachment. Serbian Military Academy adopted and developed educational a training program against piracy applying all the provisions and recommendations of the IMO conventions and IMO model courses for Serbian Autonomous vessel protection detachment.

  15. Smartphones Promote Autonomous Learning in ESL Classrooms

    Directory of Open Access Journals (Sweden)

    Viji Ramamuruthy

    2015-10-01

    Full Text Available The rapid development of high-technology has caused new inventions of gadgets for all walks of life regardless age. In this rapidly advancing technology era many individuals possess hi-tech gadgets such as laptops, tablets, iPad, android phones and smart phones. Adult learners in higher learning institution especially are fond of using smart phones. Students become passive in the classrooms as they are glued to their smart phones. This situation triggers the question of whether learning really takes place while the students are too engaged with their smart phones in the ESL classroom. In this context, the following questions are framed to investigate this issue: What type of learning skills are gained by using smartphones in ESL classrooms? Does smartphone use promote the autonomous learning process? To what extent do learners rely on the lecturers in addition to the usage of smartphones? What are the learning satisfactions gained by ESL learners using smartphones? A total of 70 smartphone users in the age range 18 to 26 years participated in this quantitative study. Questionnaires eliciting demographic details of the respondents, learning skills, learning satisfaction, students' perception on teacher's role in the ESL classroom and autonomous learning were distributed to all the randomly chosen samples. The data were then analyzed by using SPSS version 16. The findings revealed that smartphone use boosted learners’ critical thinking, creative thinking, communication and collaboration skills. In fact, learners gain great satisfaction in the learning process through smartphones. Although learners have moved toward autonomous learning, they are still reliant on the teachers to achieve their learning goals.

  16. Autonomous vehicles: from paradigms to technology

    Science.gov (United States)

    Ionita, Silviu

    2017-10-01

    Mobility is a basic necessity of contemporary society and it is a key factor in global economic development. The basic requirements for the transport of people and goods are: safety and duration of travel, but also a number of additional criteria are very important: energy saving, pollution, passenger comfort. Due to advances in hardware and software, automation has penetrated massively in transport systems both on infrastructure and on vehicles, but man is still the key element in vehicle driving. However, the classic concept of ‘human-in-the-loop’ in terms of ‘hands on’ in driving the cars is competing aside from the self-driving startups working towards so-called ‘Level 4 autonomy’, which is defined as “a self-driving system that does not requires human intervention in most scenarios”. In this paper, a conceptual synthesis of the autonomous vehicle issue is made in connection with the artificial intelligence paradigm. It presents a classification of the tasks that take place during the driving of the vehicle and its modeling from the perspective of traditional control engineering and artificial intelligence. The issue of autonomous vehicle management is addressed on three levels: navigation, movement in traffic, respectively effective maneuver and vehicle dynamics control. Each level is then described in terms of specific tasks, such as: route selection, planning and reconfiguration, recognition of traffic signs and reaction to signaling and traffic events, as well as control of effective speed, distance and direction. The approach will lead to a better understanding of the way technology is moving when talking about autonomous cars, smart/intelligent cars or intelligent transport systems. Keywords: self-driving vehicle, artificial intelligence, deep learning, intelligent transport systems.

  17. Autonomous Dome for a Robotic Telescope

    Science.gov (United States)

    Kumar, A.; Sengupta, A.; Ganesh, S.

    2016-12-01

    The Physical Research Laboratory operates a 50 cm robotic observatory at Mount Abu (Rajsthan, India). This Automated Telescope for Variability Studies (ATVS) makes use of the Remote Telescope System 2 (RTS2) for autonomous operations. The observatory uses a 3.5 m dome from Sirius Observatories. We have developed electronics using Arduino electronic circuit boards with home grown logic and software to control the dome operations. We are in the process of completing the drivers to link our Arduino based dome controller with RTS2. This document is a short description of the various phases of the development and their integration to achieve the required objective.

  18. Monitoring aquatic environments with autonomous systems

    DEFF Research Database (Denmark)

    Christensen, Jesper Philip Aagaard

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

  19. Inferential Framework for Autonomous Cryogenic Loading Operations

    Science.gov (United States)

    Luchinsky, Dmitry G.; Khasin, Michael; Timucin, Dogan; Sass, Jared; Perotti, Jose; Brown, Barbara

    2017-01-01

    We address problem of autonomous cryogenic management of loading operations on the ground and in space. As a step towards solution of this problem we develop a probabilistic framework for inferring correlations parameters of two-fluid cryogenic flow. The simulation of two-phase cryogenic flow is performed using nearly-implicit scheme. A concise set of cryogenic correlations is introduced. The proposed approach is applied to an analysis of the cryogenic flow in experimental Propellant Loading System built at NASA KSC. An efficient simultaneous optimization of a large number of model parameters is demonstrated and a good agreement with the experimental data is obtained.

  20. Autonomous Mission Operations for Sensor Webs

    Science.gov (United States)

    Underbrink, A.; Witt, K.; Stanley, J.; Mandl, D.

    2008-12-01

    We present interim results of a 2005 ROSES AIST project entitled, "Using Intelligent Agents to Form a Sensor Web for Autonomous Mission Operations", or SWAMO. The goal of the SWAMO project is to shift the control of spacecraft missions from a ground-based, centrally controlled architecture to a collaborative, distributed set of intelligent agents. The network of intelligent agents intends to reduce management requirements by utilizing model-based system prediction and autonomic model/agent collaboration. SWAMO agents are distributed throughout the Sensor Web environment, which may include multiple spacecraft, aircraft, ground systems, and ocean systems, as well as manned operations centers. The agents monitor and manage sensor platforms, Earth sensing systems, and Earth sensing models and processes. The SWAMO agents form a Sensor Web of agents via peer-to-peer coordination. Some of the intelligent agents are mobile and able to traverse between on-orbit and ground-based systems. Other agents in the network are responsible for encapsulating system models to perform prediction of future behavior of the modeled subsystems and components to which they are assigned. The software agents use semantic web technologies to enable improved information sharing among the operational entities of the Sensor Web. The semantics include ontological conceptualizations of the Sensor Web environment, plus conceptualizations of the SWAMO agents themselves. By conceptualizations of the agents, we mean knowledge of their state, operational capabilities, current operational capacities, Web Service search and discovery results, agent collaboration rules, etc. The need for ontological conceptualizations over the agents is to enable autonomous and autonomic operations of the Sensor Web. The SWAMO ontology enables automated decision making and responses to the dynamic Sensor Web environment and to end user science requests. The current ontology is compatible with Open Geospatial Consortium (OGC

  1. Autonomously propelled microscavengers for precious metal recovery.

    Science.gov (United States)

    Srivastava, Sarvesh Kumar; Medina-Sánchez, Mariana; Schmidt, Oliver G

    2017-07-18

    We report biogenic micromotor design consisting of porous chalky elongated tubes (∼60 μm length) coated with Fe-Pt for dual functionality i.e. metallic gold formation and rapid isolation. These autonomously propelled scavengers once introduced in the reaction environment, showed rapid bubble-propulsion followed by high-purity separation of the visually-distinguishable gold metal particles (yellow in colour) from the reaction mixture. The concept presented here has excellent potential towards environmentally sustainable metal recovery, micron-level metal/mineral particulate extraction, electronic waste treatment and similar redox product separation among others.

  2. Enhanced mission performance from autonomous instrument guidance

    DEFF Research Database (Denmark)

    Jørgensen, John Leif; Jørgensen, Peter Siegbjørn; Betto, Maurizio

    2006-01-01

    examples of such autonomous space instrumentation. With its full autonomy, this star tracker is capable of providing, in real-time, the absolute orientation with respect to the celestial reference frame with an accuracy of a few arc seconds. This high accuracy along with the robust operations, low weight...... and power consumption makes the mu ASC an ideal instrument for small, high yielding satellite missions. The ASC has hitherto been used by the satellite AOCS and the high accuracy scientific instrument for attitude recovery (among others onboard ORSTED, CHAMP, and GRACE), and satellite high accuracy target...

  3. Developments and challenges for autonomous unmanned vehicles

    CERN Document Server

    Finn, Anthony

    2010-01-01

    It is widely anticipated that autonomous vehicles will have a transformational impact on military forces and will play a key role in many future force structures. As a result, many tasks have already been identified that unmanned systems could undertake more readily than humans. However, for this to occur, such systems will need to be agile, versatile, persistent, reliable, survivable and lethal. This will require many of the vehicles 'cognitive' or higher order functions to be more fully developed, whereas to date only the 'component' or physical functions have been successfully automated and

  4. Autonomous Droop Scheme With Reduced Generation Cost

    DEFF Research Database (Denmark)

    Nutkani, Inam Ullah; Loh, Poh Chiang; Wang, Peng

    2014-01-01

    . This objective might, however, not suit microgrids well since DGs are usually of different types, unlike synchronous generators. Other factors like cost, efficiency, and emission penalty of each DG at different loading must be considered since they contribute directly to the total generation cost (TGC......) of the microgrid. To reduce this TGC without relying on fast communication links, an autonomous droop scheme is proposed here, whose resulting power sharing is decided by the individual DG generation costs. Comparing it with the traditional scheme, the proposed scheme retains its simplicity and it is hence more...

  5. Autonomous droop scheme with reduced generation cost

    DEFF Research Database (Denmark)

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

    2013-01-01

    Droop scheme has been widely applied to the control of Distributed Generators (DGs) in microgrids for proportional power sharing based on their ratings. For standalone microgrid, where centralized management system is not viable, the proportional power sharing based droop might not suit well since...... DGs are usually of different types unlike synchronous generators. This paper presents an autonomous droop scheme that takes into consideration the operating cost, efficiency and emission penalty of each DG since all these factors directly or indirectly contributes to the Total Generation Cost (TGC...

  6. Online searching with an autonomous robot

    OpenAIRE

    Fekete, Sándor P.; Klein, Rolf; Nüchter, Andreas

    2006-01-01

    We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is capable of identifying objects like a chair. We derive a practically useful and asymp...

  7. Malicious Hubs: Detecting Abnormally Malicious Autonomous Systems

    Energy Technology Data Exchange (ETDEWEB)

    Kalafut, Andrew J. [Indiana University; Shue, Craig A [ORNL; Gupta, Prof. Minaxi [Indiana University

    2010-01-01

    While many attacks are distributed across botnets, investigators and network operators have recently targeted malicious networks through high profile autonomous system (AS) de-peerings and network shut-downs. In this paper, we explore whether some ASes indeed are safe havens for malicious activity. We look for ISPs and ASes that exhibit disproportionately high malicious behavior using 12 popular blacklists. We find that some ASes have over 80% of their routable IP address space blacklisted and others account for large fractions of blacklisted IPs. Overall, we conclude that examining malicious activity at the AS granularity can unearth networks with lax security or those that harbor cybercrime.

  8. A Diversified Investment Strategy Using Autonomous Agents

    Science.gov (United States)

    Barbosa, Rui Pedro; Belo, Orlando

    In a previously published article, we presented an architecture for implementing agents with the ability to trade autonomously in the Forex market. At the core of this architecture is an ensemble of classification and regression models that is used to predict the direction of the price of a currency pair. In this paper, we will describe a diversified investment strategy consisting of five agents which were implemented using that architecture. By simulating trades with 18 months of out-of-sample data, we will demonstrate that data mining models can produce profitable predictions, and that the trading risk can be diminished through investment diversification.

  9. Autonomous valve for detection of biopolymer degradation

    DEFF Research Database (Denmark)

    Keller, Stephan Urs; Noeth, Nadine-Nicole; Fetz, Stefanie

    2009-01-01

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

  10. Visual Odometry for Autonomous Deep-Space Navigation Project

    Science.gov (United States)

    Robinson, Shane; Pedrotty, Sam

    2016-01-01

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

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

    Science.gov (United States)

    Regalado Reyes, Bjorn Constant

    2015-01-01

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

  12. Cloud@Home: A New Enhanced Computing Paradigm

    Science.gov (United States)

    Distefano, Salvatore; Cunsolo, Vincenzo D.; Puliafito, Antonio; Scarpa, Marco

    Cloud computing is a distributed computing paradigm that mixes aspects of Grid computing, ("… hardware and software infrastructure that provides dependable, consistent, pervasive, and inexpensive access to high-end computational capabilities" (Foster, 2002)) Internet Computing ("…a computing platform geographically distributed across the Internet" (Milenkovic et al., 2003)), Utility computing ("a collection of technologies and business practices that enables computing to be delivered seamlessly and reliably across multiple computers, ... available as needed and billed according to usage, much like water and electricity are today" (Ross & Westerman, 2004)) Autonomic computing ("computing systems that can manage themselves given high-level objectives from administrators" (Kephart & Chess, 2003)), Edge computing ("… provides a generic template facility for any type of application to spread its execution across a dedicated grid, balancing the load …" Davis, Parikh, & Weihl, 2004) and Green computing (a new frontier of Ethical computing1 starting from the assumption that in next future energy costs will be related to the environment pollution).

  13. Fuzzy Decision-Making Fuser (FDMF for Integrating Human-Machine Autonomous (HMA Systems with Adaptive Evidence Sources

    Directory of Open Access Journals (Sweden)

    Yu-Ting Liu

    2017-06-01

    Full Text Available A brain-computer interface (BCI creates a direct communication pathway between the human brain and an external device or system. In contrast to patient-oriented BCIs, which are intended to restore inoperative or malfunctioning aspects of the nervous system, a growing number of BCI studies focus on designing auxiliary systems that are intended for everyday use. The goal of building these BCIs is to provide capabilities that augment existing intact physical and mental capabilities. However, a key challenge to BCI research is human variability; factors such as fatigue, inattention, and stress vary both across different individuals and for the same individual over time. If these issues are addressed, autonomous systems may provide additional benefits that enhance system performance and prevent problems introduced by individual human variability. This study proposes a human-machine autonomous (HMA system that simultaneously aggregates human and machine knowledge to recognize targets in a rapid serial visual presentation (RSVP task. The HMA focuses on integrating an RSVP BCI with computer vision techniques in an image-labeling domain. A fuzzy decision-making fuser (FDMF is then applied in the HMA system to provide a natural adaptive framework for evidence-based inference by incorporating an integrated summary of the available evidence (i.e., human and machine decisions and associated uncertainty. Consequently, the HMA system dynamically aggregates decisions involving uncertainties from both human and autonomous agents. The collaborative decisions made by an HMA system can achieve and maintain superior performance more efficiently than either the human or autonomous agents can achieve independently. The experimental results shown in this study suggest that the proposed HMA system with the FDMF can effectively fuse decisions from human brain activities and the computer vision techniques to improve overall performance on the RSVP recognition task. This

  14. [Learning strategies of autonomous medical students].

    Science.gov (United States)

    Márquez U, Carolina; Fasce H, Eduardo; Ortega B, Javiera; Bustamante D, Carolina; Pérez V, Cristhian; Ibáñez G, Pilar; Ortiz M, Liliana; Espinoza P, Camila; Bastías V, Nancy

    2015-12-01

    Understanding how autonomous students are capable of regulating their own learning process is essential to develop self-directed teaching methods. To understand how self-directed medical students approach learning in medical schools at University of Concepción, Chile. A qualitative and descriptive study, performed according to Grounded Theory guidelines, following Strauss & Corbin was performed. Twenty medical students were selected by the maximum variation sampling method. The data collection technique was carried out by a semi-structured thematic interview. Students were interviewed by researchers after an informed consent procedure. Data were analyzed by the open coding method using Atlas-ti 7.5.2 software. Self-directed learners were characterized by being good planners and managing their time correctly. Students performed a diligent selection of contents to study based on reliable literature sources, theoretical relevance and type of evaluation. They also emphasized the discussion of clinical cases, where theoretical contents can be applied. This modality allows them to gain a global view of theoretical contents, to verbalize knowledge and to obtain a learning feedback. The learning process of autonomous students is intentional and planned.

  15. The usual treatment of trigeminal autonomic cephalalgias.

    Science.gov (United States)

    Pareja, Juan A; Álvarez, Mónica

    2013-10-01

    Trigeminal autonomic cephalalgias include cluster headache, paroxysmal hemicrania, and short-lasting unilateral neuralgiform headache attacks with conjunctival injection, tearing, and rhinorrhea (SUNCT). Conventional pharmacological therapy can be successful in the majority of trigeminal autonomic cephalalgias patients. Most cluster headache attacks respond to 100% oxygen inhalation, or 6 mg subcutaneous sumatriptan. Nasal spray of sumatriptan (20 mg) or zolmitriptan (5 mg) are recommended as second choice. The bouts can be brought under control by a short course of corticosteroids (oral prednisone: 60-100 mg/day, or intravenous methylprednisolone: 250-500 mg/day, for 5 days, followed by tapering off the dosage), or by long-term prophylaxis with verapamil (at least 240 mg/day). Alternative long-term preventive medications include lithium carbonate (800-1600 mg/day), methylergonovine (0.4-1.2 mg/day), and topiramate (100-200 mg/day). As a rule, paroxysmal hemicrania responds to preventive treatment with indomethacin (75-150 mg/day). A short course of intravenous lidocaine (1-4 mg/kg/hour) can reduce the flow of attacks during exacerbations of SUNCT. Lamotrigine (100-300 mg/day) is the preventive drug of choice for SUNCT. Gabapentin (800-2700 mg/day), topiramate (50-300 mg/day), and carbamazepine (200-1600 mg/day) may be of help. © 2013 American Headache Society.

  16. Optimal autonomous spacecraft resiliency maneuvers using metaheuristics

    Science.gov (United States)

    Showalter, Daniel J.

    The growing congestion in space has increased the need for spacecraft to develop resilience capabilities in response to natural and man-made hazards. Equipping satellites with increased maneuvering capability has the potential to enhance resilience by altering their arrival conditions as they enter potentially hazardous regions. The propellant expenditure corresponding to increased maneuverability requires these maneuvers be optimized to minimize fuel expenditure and to the extent which resiliency can be preserved. This research introduces maneuvers to enhance resiliency and investigates the viability of metaheuristics to enable their autonomous optimization. Techniques are developed to optimize impulsive and continuous-thrust resiliency maneuvers. The results demonstrate that impulsive and low-thrust resiliency maneuvers require only meters per second of delta-velocity. Additionally, bi-level evolutionary algorithms are explored in the optimization of resiliency maneuvers which require a maneuvering spacecraft to perform an inspection of one of several target satellites while en-route to geostationary orbit. The methods developed are shown to consistently produce optimal and near-optimal results for the problems investigated and can be applied to future classes of resiliency maneuvers yet to be defined. Results indicate that the inspection requires an increase of only five percent of the propellant needed to transfer from low Earth orbit to geostationary orbit. The maneuvers and optimization techniques developed throughout this dissertation demonstrate the viability of the autonomous optimization of spacecraft resiliency maneuvers and can be utilized to optimize future classes of resiliency maneuvers.

  17. Autonomic impairment in patients with migraine.

    Science.gov (United States)

    Matei, D; Constantinescu, V; Corciova, C; Ignat, B; Matei, R; Popescu, C D

    2015-10-01

    Heart rate variability analysis of electrocardiogram is becoming an increasingly common method to non-invasively evaluate autonomic nervous function. The aim of the study was to investigate cardiac autonomic function in subjects with and without migraine by using 24-hour ambulatory electrocardiographic recordings. We investigated 27 subjects with migraine (10 with migraine with aura and 17 without aura) during headache free periods and 10 age-matched healthy control subjects. The migraine was diagnosed using the International Classification of Headache Disorders 2nd Edition criteria. Beck Depression and Beck Anxiety Inventory forms were completed by all subjects. Time and frequency-domain of HRV was analyzed for two periods: diurnal and nocturnal. We found an increased frequency of anxiety and depressive symptoms in migraine patients, especially in migraine with aura group. The heart rate variability parameters SDNN, RMSSD, high frequency were decreased and low frequency was increased in migraine patients during night period compared with normal subjects, most affected were migraine with aura patients. During day period we found modification for SDNN, RMSSD and high frequency parameters only in migraine with aura group. Reduced parasympathetic activity with sympathetic predominance was found in migraine patients during the night period, most affected being migraine with aura patients.

  18. A Multifunctional Coating for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Hintze, Paul E.; Li, Wenyan; Buhrow, Jerry W.; Jolley, Scott T.

    2010-01-01

    Corrosion is a destructive process that often causes failure in metallic components and structures. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional, smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to control it. The multi-functionality of the coating is based on microencapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of other existing microcapsules designs, the corrosion controlled release function that allows the delivery of corrosion indicators and inhibitors on demand only when and where they are needed. Corrosion indicators as well as corrosion inhibitors have been incorporated into the microcapsules, blended into several paint systems, and tested for corrosion detection and protection efficacy.

  19. Quantifying Emergent Behavior of Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Georg Martius

    2015-10-01

    Full Text Available Quantifying behaviors of robots which were generated autonomously from task-independent objective functions is an important prerequisite for objective comparisons of algorithms and movements of animals. The temporal sequence of such a behavior can be considered as a time series and hence complexity measures developed for time series are natural candidates for its quantification. The predictive information and the excess entropy are such complexity measures. They measure the amount of information the past contains about the future and thus quantify the nonrandom structure in the temporal sequence. However, when using these measures for systems with continuous states one has to deal with the fact that their values will depend on the resolution with which the systems states are observed. For deterministic systems both measures will diverge with increasing resolution. We therefore propose a new decomposition of the excess entropy in resolution dependent and resolution independent parts and discuss how they depend on the dimensionality of the dynamics, correlations and the noise level. For the practical estimation we propose to use estimates based on the correlation integral instead of the direct estimation of the mutual information based on next neighbor statistics because the latter allows less control of the scale dependencies. Using our algorithm we are able to show how autonomous learning generates behavior of increasing complexity with increasing learning duration.

  20. Autonomous cross country driving using active vision

    Science.gov (United States)

    Pellkofer, Martin; Hofmann, Ulrich; Dickmanns, Ernst D.

    2003-10-01

    For robust and safe cross country driving, an autonomous ground vehicle must be able to handle conflicts, which may arise from limitations of perception performance, of the dynamics of the vehicle's active camera head and from the feasibility of locomotion maneuvers. This paper describes the interaction and coordination of image processing, gaze control and behavior decision. The behavior decision module specifies the perception tasks for the image processing experts according to the mission, the capabilities of the vehicle and the knowledge about the external world accumulated up to the present time. Depending on its perception task received, an image processing expert specifies combinations of so-called regions of attention (RoA) for each object in 3D object coordinates. These RoA cover relevant object parts and should be visible with a resolution and in a manner as required by the measurement techniques applied. The gaze control unit analyzes the combinations of RoA of all image processing experts in order to plan, optimize and perform a sequence of smooth pursuits, interrupted by saccades. This dynamic interaction has been demonstrated in different complex and scalable autonomous missions with the UBM test vehicle VAMORS. The mission described in this paper makes the vehicle meet an unexpected ditch of unknown size and position forcing the vehicle to reactive behavior regarding locomotion, gaze control as well as image processing.

  1. Autonomic function in manganese alloy workers

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-07-01

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

  2. Autonomous mobile robot localization using Kalman filter

    Directory of Open Access Journals (Sweden)

    Mohd Nasir Nabil Zhafri

    2017-01-01

    Full Text Available Autonomous mobile robot field has gain interest among researchers in recent years. The ability of a mobile robot to locate its current position and surrounding environment is the fundamental in order for it to operate autonomously, which commonly known as localization. Localization of mobile robot are commonly affected by the inaccuracy of the sensors. These inaccuracies are caused by various factors which includes internal interferences of the sensor and external environment noises. In order to overcome these noises, a filtering method is required in order to improve the mobile robot’s localization. In this research, a 2- wheeled-drive (2WD mobile robot will be used as platform. The odometers, inertial measurement unit (IMU, and ultrasonic sensors are used for data collection. Data collected is processed using Kalman filter to predict and correct the error from these sensors reading. The differential drive model and measurement model which estimates the environmental noises and predict a correction are used in this research. Based on the simulation and experimental results, the x, y and heading was corrected by converging the error to10 mm, 10 mm and 0.06 rad respectively.

  3. An Experimental Platform for Autonomous Bus Development

    Directory of Open Access Journals (Sweden)

    Héctor Montes

    2017-11-01

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

  4. Security-Enhanced Autonomous Network Management

    Science.gov (United States)

    Zeng, Hui

    2015-01-01

    Ensuring reliable communication in next-generation space networks requires a novel network management system to support greater levels of autonomy and greater awareness of the environment and assets. Intelligent Automation, Inc., has developed a security-enhanced autonomous network management (SEANM) approach for space networks through cross-layer negotiation and network monitoring, analysis, and adaptation. The underlying technology is bundle-based delay/disruption-tolerant networking (DTN). The SEANM scheme allows a system to adaptively reconfigure its network elements based on awareness of network conditions, policies, and mission requirements. Although SEANM is generically applicable to any radio network, for validation purposes it has been prototyped and evaluated on two specific networks: a commercial off-the-shelf hardware test-bed using Institute of Electrical Engineers (IEEE) 802.11 Wi-Fi devices and a military hardware test-bed using AN/PRC-154 Rifleman Radio platforms. Testing has demonstrated that SEANM provides autonomous network management resulting in reliable communications in delay/disruptive-prone environments.

  5. Stimulating autonomous motivation in the classroom: The role of interpersonal teacher agency and communion

    NARCIS (Netherlands)

    Wijsman, Lindy; Mainhard, Tim|info:eu-repo/dai/nl/30483517X; Brekelmans, Mieke|info:eu-repo/dai/nl/074625411

    2014-01-01

    Self Determination Theory (SDT) distinguishes the quality of motivation from its quantity or intensity (Vansteenkiste, Sierens, Soetens, Luyckx, & Lens, 2009). A sequence from controlled to autonomous motivation is adopted; autonomous motivation is seen as the best quality type. Being autonomously

  6. The treatment of autonomic dysfunction in tetanus | Maryke Spruyt ...

    African Journals Online (AJOL)

    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 ...

  7. Cardiac Autonomic Dysfunction in Children and Adolescents with ...

    African Journals Online (AJOL)

    Introduction: Autonomic neuropathy is less well documented in children with type 1 diabetes mellitus and has received less attention than other diabetic complications. Sudden death and cardio-respiratory arrest in patients with type 1 and type 2 diabetes mellitus have been attributed to cardiac autonomic dysfunction.

  8. Learner Behaviors and Perceptions of Autonomous Language Learning

    Science.gov (United States)

    Bekleyen, Nilüfer; Selimoglu, Figen

    2016-01-01

    The purpose of the present study was to investigate the learners' behaviors and perceptions about autonomous language learning at the university level in Turkey. It attempts to reveal what type of perceptions learners held regarding teachers' and their own responsibilities in the language learning process. Their autonomous language learning…

  9. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

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

  10. Evaluating the autonomic nervous system in patients with laryngopharyngeal reflux.

    Science.gov (United States)

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

    2013-06-01

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

  11. Exploration and Exploitation in Visuomotor Prediction of Autonomous Agents

    NARCIS (Netherlands)

    Bliek, L.

    2013-01-01

    This paper discusses various techniques to let an agent learn how to predict the effects of its own actions on its sensor data autonomously, and their usefulness to apply them to visual sensors. An Extreme Learning Machine is used for visuomotor prediction, while various autonomous control

  12. load loss performance of an autonomous self-excited induction ...

    African Journals Online (AJOL)

    ES Obe

    AUTONOMOUS SELF-EXCITED INDUCTION. GENERATOR. E.S. Obe, G.D. Umoh, L.U Anih. Department of Electrical Engineering, University of Nigeria, Nsukka, Nigeria. Abstract. This paper presents a dynamic analysis of an autonomous Self-Excited Induction. Generator (SEIG) showing dynamic loss of load performance.

  13. Autonomic nervous system status and responsiveness and the ...

    African Journals Online (AJOL)

    'brake' on heart rate, are much more important than previously assumed.1,2 Perhaps of greater concern with regard to anxiety disorders are indications of an autonomic inflexibility or decreased responsiveness in the face of a challenge.1,2 In view of the importance of the autonomic nervous system (ANS) to instantaneously ...

  14. Review article: Autonomous neural inflammatory reflex and control of

    African Journals Online (AJOL)

    Inflammation is common pathology associated with infections and other diseases process that lead to non specific sickness behaviours. Identification of autonomous neural inflammatory reflex that is regulated through autonomic nervous system and their receptors give a way forward on how this can be use as therapeutic ...

  15. Cardiovascular autonomic dysfunction due to diabetes mellitus: An ...

    African Journals Online (AJOL)

    ... should increase surveillance for cardiac ischaemia, carefully re-examine the list of prescribed medications, and aggressively treating cardiovascular risk factors that may be associated with the development of CAN. Keywords: Diabetes mellitus, autonomic neuropathy, autonomic nervous system, orthostatic hypotension, ...

  16. Autonomic manifestations of epilepsy | Asindi | Nigerian Journal of ...

    African Journals Online (AJOL)

    Poor control, and polytherapy in the management of patients, render some epileptics more vulnerable toexcessive excitability of the autonomic nervous system. The aim of this communication, therefore, is to alert and remind healthcare givers on the autonomic phenomena of epileptic fits some of which may result in sudden ...

  17. Modeling of an autonomous microgrid for renewable energy sources integration

    DEFF Research Database (Denmark)

    Serban, I.; Teodorescu, Remus; Guerrero, Josep M.

    2009-01-01

    The frequency stability analysis in an autonomous microgrid (MG) with renewable energy sources (RES) is a continuously studied issue. This paper presents an original method for modeling an autonomous MG with a battery energy storage system (BESS) and a wind power plant (WPP), with the purpose...

  18. Valuation Model for Adding Energy Resource into Autonomous Energy Cluster

    NARCIS (Netherlands)

    De Kok, E.; Negeri, E.O.; Van Wijk, A.; Baken, N.

    2013-01-01

    With the availability of distributed generation (DG), clusters that can autonomously manage their energy profile are emerging in the power grid. These autonomous clusters manage their load profiles by orchestrating their energy resources, such as DG, storage, flexible energy consuming appliances,

  19. The Local Motion Planning for an Autonomous Mobile Robot.

    Science.gov (United States)

    1995-09-01

    The major problem addressed by this research is how to develop a motion control algorithm for local motion planning of an autonomous mobile robot... motion planning . The experimental results were successful. The algorithms were implemented first on a simulator, then on the autonomous mobile robot

  20. Autonomic response to exercise as measured by cardio- vascular ...

    African Journals Online (AJOL)

    Autonomic response to exercise as measured by cardio- vascular variability. Abstract. Motivation. There is growing interest in the use of cardiovas- cular variability indicators as measures of autonomic activity, even though reported results are not always comparable or as expected. This review aims to determine the ...