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Sample records for unit strapdown imu

  1. 3D-Calibration for IMU of the Strapdown Inertial Navigation Systems

    Directory of Open Access Journals (Sweden)

    Avrutov V.V.

    2017-01-01

    Full Text Available A new calibration method for Inertial Measurement Unit (IMU of Strapdown Iner-tial Navigation Systems was presented. IMU has been composed of accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are us-ing for IMU calibration. The new calibration method is based on whole angle rotation or finite rotation. In fact it’s suggested to turn over IMU around three axes simultaneously. In order to solve the equation of calibration, it is necessary to provide an equality of a rank of basic matrix into degree of basic matrix. The results of simulated IMU data presented to demonstrate the performance of the new calibration method.

  2. IceBridge IMU L0 Raw Inertial Measurement Unit Data

    Data.gov (United States)

    National Aeronautics and Space Administration — The NASA IceBridge IMU L0 Raw Inertial Measurement Unit Data (IPUTI0) data set contains Inertial Measurement Unit (IMU) readings, including latitude, longitude,...

  3. Latest results in strapdown airborne gravimetry using an iMAR RQH unit

    DEFF Research Database (Denmark)

    Becker, D.; Becker, M; Olesen, Arne Vestergaard

    2016-01-01

    , relaxing the common requirement of an adjustment of the strapdown gravity data. Results were evaluated based on cross-over statistics, indicating standard deviations in the range from 1.0 to 1.4 mGal (without adjustment). This is an excellent result for strapdown gravimetry, clearly reaching the accuracy...

  4. Study on the Dynamics of Laser Gyro Strapdown Inertial Measurement Unit System Based on Transfer Matrix Method for Multibody System

    Directory of Open Access Journals (Sweden)

    Gangli Chen

    2013-01-01

    Full Text Available The dynamic test precision of the strapdown inertial measurement unit (SIMU is the basis of estimating accurate motion of various vehicles such as warships, airplanes, spacecrafts, and missiles. So, it is paid great attention in the above fields to increase the dynamic precision of SIMU by decreasing the vibration of the vehicles acting on the SIMU. In this paper, based on the transfer matrix method for multibody system (MSTMM, the multibody system dynamics model of laser gyro strapdown inertial measurement unit (LGSIMU is developed; the overall transfer equation of the system is deduced automatically. The computational results show that the frequency response function of the LGSIMU got by the proposed method and Newton-Euler method have good agreements. Further, the vibration reduction performance and the attitude error responses under harmonic and random excitations are analyzed. The proposed method provides a powerful technique for studying dynamics of LGSIMU because of using MSTMM and its following features: without the global dynamics equations of the system, high programming, low order of system matrix, and high computational speed.

  5. Strapdown Airborne Gravimetry Using a Combination of Commercial Software and Stable-Platform Gravity Estimates

    DEFF Research Database (Denmark)

    Jensen, Tim E.; Nielsen, J. Emil; Olesen, Arne V.

    2017-01-01

    into the long-wavelengths of the gravity estimates. This has made the stable-platform approach the preferred method for geodetic applications. In the summer of 2016, during a large airborne survey in Malaysia, a SIMU system was flown alongside a traditional LaCoste&Romberg (LCR) gravimeter. The SIMU......For the past two decades, airborne gravimetry using a Strapdown Inertial Measurement Unit (SIMU) has been producing gravity estimates comparable to the traditional stable-platform single-axis gravimeters. The challenge has been to control the long term drift of the IMU sensors, propagating...

  6. A Foot-Mounted Inertial Measurement Unit (IMU) Positioning Algorithm Based on Magnetic Constraint.

    Science.gov (United States)

    Wang, Yan; Li, Xin; Zou, Jiaheng

    2018-03-01

    With the development of related applications, indoor positioning techniques have been more and more widely developed. Based on Wi-Fi, Bluetooth low energy (BLE) and geomagnetism, indoor positioning techniques often rely on the physical location of fingerprint information. The focus and difficulty of establishing the fingerprint database are in obtaining a relatively accurate physical location with as little given information as possible. This paper presents a foot-mounted inertial measurement unit (IMU) positioning algorithm under the loop closure constraint based on magnetic information. It can provide relatively reliable position information without maps and geomagnetic information and provides a relatively accurate coordinate for the collection of a fingerprint database. In the experiment, the features extracted by the multi-level Fourier transform method proposed in this paper are validated and the validity of loop closure matching is tested with a RANSAC-based method. Moreover, the loop closure detection results show that the cumulative error of the trajectory processed by the graph optimization algorithm is significantly suppressed, presenting a good accuracy. The average error of the trajectory under loop closure constraint is controlled below 2.15 m.

  7. A Foot-Mounted Inertial Measurement Unit (IMU Positioning Algorithm Based on Magnetic Constraint

    Directory of Open Access Journals (Sweden)

    Yan Wang

    2018-03-01

    Full Text Available With the development of related applications, indoor positioning techniques have been more and more widely developed. Based on Wi-Fi, Bluetooth low energy (BLE and geomagnetism, indoor positioning techniques often rely on the physical location of fingerprint information. The focus and difficulty of establishing the fingerprint database are in obtaining a relatively accurate physical location with as little given information as possible. This paper presents a foot-mounted inertial measurement unit (IMU positioning algorithm under the loop closure constraint based on magnetic information. It can provide relatively reliable position information without maps and geomagnetic information and provides a relatively accurate coordinate for the collection of a fingerprint database. In the experiment, the features extracted by the multi-level Fourier transform method proposed in this paper are validated and the validity of loop closure matching is tested with a RANSAC-based method. Moreover, the loop closure detection results show that the cumulative error of the trajectory processed by the graph optimization algorithm is significantly suppressed, presenting a good accuracy. The average error of the trajectory under loop closure constraint is controlled below 2.15 m.

  8. Star Tracker Performance Estimate with IMU

    Science.gov (United States)

    Aretskin-Hariton, Eliot D.; Swank, Aaron J.

    2015-01-01

    A software tool for estimating cross-boresight error of a star tracker combined with an inertial measurement unit (IMU) was developed to support trade studies for the Integrated Radio and Optical Communication project (iROC) at the National Aeronautics and Space Administration Glenn Research Center. Typical laser communication systems, such as the Lunar Laser Communication Demonstration (LLCD) and the Laser Communication Relay Demonstration (LCRD), use a beacon to locate ground stations. iROC is investigating the use of beaconless precision laser pointing to enable laser communication at Mars orbits and beyond. Precision attitude knowledge is essential to the iROC mission to enable high-speed steering of the optical link. The preliminary concept to achieve this precision attitude knowledge is to use star trackers combined with an IMU. The Star Tracker Accuracy (STAcc) software was developed to rapidly assess the capabilities of star tracker and IMU configurations. STAcc determines the overall cross-boresight error of a star tracker with an IMU given the characteristic parameters: quantum efficiency, aperture, apparent star magnitude, exposure time, field of view, photon spread, detector pixels, spacecraft slew rate, maximum stars used for quaternion estimation, and IMU angular random walk. This paper discusses the supporting theory used to construct STAcc, verification of the program and sample results.

  9. Uticaj mesta ugradnje inercijalnog mernog bloka i akcelerometara na grešku u određivanju pozicije aviona / Size effect of the inertial measurement unit and inside IMU accelerometers on aircraft position error

    Directory of Open Access Journals (Sweden)

    Slobodan Janićijević

    2003-03-01

    Full Text Available U ovom članku analiziran je uticaj mesta ugradnje inercijalnog mernog bloka (IMB u avionu i mesta ugradnje akcelerometara u IMB na tačnost određivanja pozicije pomoću bes-platformskog inercijalnog navigacijskog sistema (BINS. Pokazano je da se ovi uticaji ne mogu uvek zanemariti. Izračunata je ukupna greška u određivanju pozicije aviona ako se IMB ugrađuje van centra rotacije aviona, a akcelerometri van centra IMB. Predložena je optimalna orijentacija akcelerometara u IMB-u, kako bi se minimizirao uticaj ugradnje akcelerometara van centra IMB na tačnost određivanja pozicije aviona. Predložen je i način kompenzacije greške. / This paper analyzes the mounting offset size effect of the inertial measurement unit (IMU in aircraft and accelerometers mounting offset size effect in the IMU on the accuracy of strap down inertial navigation system (SDINS. It is also shown that these effects cannot be always neglected. The total size effect error for the IMU has been the computed. An accelerometers optimum orientation inside the IMU has been proposed to minimize size effects on the accuracy of navigation parameters. A manner to compensate these size effects has been proposed as well.

  10. Vision and dual IMU integrated attitude measurement system

    Science.gov (United States)

    Guo, Xiaoting; Sun, Changku; Wang, Peng; Lu, Huang

    2018-01-01

    To determination relative attitude between two space objects on a rocking base, an integrated system based on vision and dual IMU (inertial determination unit) is built up. The determination system fuses the attitude information of vision with the angular determinations of dual IMU by extended Kalman filter (EKF) to obtain the relative attitude. One IMU (master) is attached to the measured motion object and the other (slave) to the rocking base. As the determination output of inertial sensor is relative to inertial frame, thus angular rate of the master IMU includes not only motion of the measured object relative to inertial frame but also the rocking base relative to inertial frame, where the latter can be seen as redundant harmful movement information for relative attitude determination between the measured object and the rocking base. The slave IMU here assists to remove the motion information of rocking base relative to inertial frame from the master IMU. The proposed integrated attitude determination system is tested on practical experimental platform. And experiment results with superior precision and reliability show the feasibility and effectiveness of the proposed attitude determination system.

  11. Deep Kalman Filter: Simultaneous Multi-Sensor Integration and Modelling; A GNSS/IMU Case Study

    Directory of Open Access Journals (Sweden)

    Siavash Hosseinyalamdary

    2018-04-01

    Full Text Available Bayes filters, such as the Kalman and particle filters, have been used in sensor fusion to integrate two sources of information and obtain the best estimate of unknowns. The efficient integration of multiple sensors requires deep knowledge of their error sources. Some sensors, such as Inertial Measurement Unit (IMU, have complicated error sources. Therefore, IMU error modelling and the efficient integration of IMU and Global Navigation Satellite System (GNSS observations has remained a challenge. In this paper, we developed deep Kalman filter to model and remove IMU errors and, consequently, improve the accuracy of IMU positioning. To achieve this, we added a modelling step to the prediction and update steps of the Kalman filter, so that the IMU error model is learned during integration. The results showed our deep Kalman filter outperformed the conventional Kalman filter and reached a higher level of accuracy.

  12. Deep Kalman Filter: Simultaneous Multi-Sensor Integration and Modelling; A GNSS/IMU Case Study.

    Science.gov (United States)

    Hosseinyalamdary, Siavash

    2018-04-24

    Bayes filters, such as the Kalman and particle filters, have been used in sensor fusion to integrate two sources of information and obtain the best estimate of unknowns. The efficient integration of multiple sensors requires deep knowledge of their error sources. Some sensors, such as Inertial Measurement Unit (IMU), have complicated error sources. Therefore, IMU error modelling and the efficient integration of IMU and Global Navigation Satellite System (GNSS) observations has remained a challenge. In this paper, we developed deep Kalman filter to model and remove IMU errors and, consequently, improve the accuracy of IMU positioning. To achieve this, we added a modelling step to the prediction and update steps of the Kalman filter, so that the IMU error model is learned during integration. The results showed our deep Kalman filter outperformed the conventional Kalman filter and reached a higher level of accuracy.

  13. Strapdown Homing Guidance System Design for Some Ammunition

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    The strapdown homing guidance system for some ammunition was mainly studied. A strong tracking Kalman filter was designed for the strapdown homing guidance system using the information measured by the strapdown homing seeker to estimate relative movement variables between the ammunition and target. Then the optimal proportional law, which using the estimated information, guided the ammunition. Simulation results show that the designed strapdown homing guidance system with strong tracking Kalman filter can attack the maneuvering target effectively, and satisfy the performance index for the guided ammunition system.

  14. Towards an IMU Evaluation Framework for Human Body Tracking.

    Science.gov (United States)

    Venek, Verena; Kremser, Wolfgang; Schneider, Cornelia

    2018-01-01

    Existing full-body tracking systems, which use Inertial Measurement Units (IMUs) as sensing unit, require expert knowledge for setup and data collection. Thus, the daily application for human body tracking is difficult. In particular, in the field of active and assisted living (AAL), tracking human movements would enable novel insights not only into the quantity but also into the quality of human movement, for example by monitoring functional training. While the current market offers a wide range of products with vastly different properties, literature lacks guidelines for choosing IMUs for body tracking applications. Therefore, this paper introduces developments towards an IMU evaluation framework for human body tracking which compares IMUs against five requirement areas that consider device features and data quality. The data quality is assessed by conducting a static and a dynamic error analysis. In a first application to four IMUs of different component consumption, the IMU evaluation framework convinced as promising tool for IMU selection.

  15. Field Programmable Gate Array Based Parallel Strapdown Algorithm Design for Strapdown Inertial Navigation Systems

    Directory of Open Access Journals (Sweden)

    Long-Hua Ma

    2011-08-01

    Full Text Available A new generalized optimum strapdown algorithm with coning and sculling compensation is presented, in which the position, velocity and attitude updating operations are carried out based on the single-speed structure in which all computations are executed at a single updating rate that is sufficiently high to accurately account for high frequency angular rate and acceleration rectification effects. Different from existing algorithms, the updating rates of the coning and sculling compensations are unrelated with the number of the gyro incremental angle samples and the number of the accelerometer incremental velocity samples. When the output sampling rate of inertial sensors remains constant, this algorithm allows increasing the updating rate of the coning and sculling compensation, yet with more numbers of gyro incremental angle and accelerometer incremental velocity in order to improve the accuracy of system. Then, in order to implement the new strapdown algorithm in a single FPGA chip, the parallelization of the algorithm is designed and its computational complexity is analyzed. The performance of the proposed parallel strapdown algorithm is tested on the Xilinx ISE 12.3 software platform and the FPGA device XC6VLX550T hardware platform on the basis of some fighter data. It is shown that this parallel strapdown algorithm on the FPGA platform can greatly decrease the execution time of algorithm to meet the real-time and high precision requirements of system on the high dynamic environment, relative to the existing implemented on the DSP platform.

  16. IMU: inertial sensing of vertical CoM movement.

    Science.gov (United States)

    Esser, Patrick; Dawes, Helen; Collett, Johnny; Howells, Ken

    2009-07-22

    The purpose of this study was to use a quaternion rotation matrix in combination with an integration approach to transform translatory accelerations of the centre of mass (CoM) from an inertial measurement unit (IMU) during walking, from the object system onto the global frame. Second, this paper utilises double integration to determine the relative change in position of the CoM from the vertical acceleration data. Five participants were tested in which an IMU, consisting of accelerometers, gyroscopes and magnetometers was attached on the lower spine estimated centre of mass. Participants were asked to walk three times through a calibrated volume at their self-selected walking speed. Synchronized data were collected by an IMU and an optical motion capture system (OMCS); both measured at 100 Hz. Accelerations of the IMU were transposed onto the global frame using a quaternion rotation matrix. Translatory acceleration, speed and relative change in position from the IMU were compared with the derived data from the OMCS. Peak acceleration in vertical axis showed no significant difference (p> or =0.05). Difference between peak and trough speed showed significant difference (p or =0.05). These results indicate that quaternions, in combination with Simpsons rule integration, can be used in transforming translatory acceleration from the object frame to the global frame and therefore obtain relative change in position, thus offering a solution for using accelerometers in accurate global frame kinematic gait analyses.

  17. Miniaturized GPS/MEMS IMU integrated board

    Science.gov (United States)

    Lin, Ching-Fang (Inventor)

    2012-01-01

    This invention documents the efforts on the research and development of a miniaturized GPS/MEMS IMU integrated navigation system. A miniaturized GPS/MEMS IMU integrated navigation system is presented; Laser Dynamic Range Imager (LDRI) based alignment algorithm for space applications is discussed. Two navigation cameras are also included to measure the range and range rate which can be integrated into the GPS/MEMS IMU system to enhance the navigation solution.

  18. IMU-based online kinematic calibration of robot manipulator.

    Science.gov (United States)

    Du, Guanglong; Zhang, Ping

    2013-01-01

    Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

  19. Loose fusion based on SLAM and IMU for indoor environment

    Science.gov (United States)

    Zhu, Haijiang; Wang, Zhicheng; Zhou, Jinglin; Wang, Xuejing

    2018-04-01

    The simultaneous localization and mapping (SLAM) method based on the RGB-D sensor is widely researched in recent years. However, the accuracy of the RGB-D SLAM relies heavily on correspondence feature points, and the position would be lost in case of scenes with sparse textures. Therefore, plenty of fusion methods using the RGB-D information and inertial measurement unit (IMU) data have investigated to improve the accuracy of SLAM system. However, these fusion methods usually do not take into account the size of matched feature points. The pose estimation calculated by RGB-D information may not be accurate while the number of correct matches is too few. Thus, considering the impact of matches in SLAM system and the problem of missing position in scenes with few textures, a loose fusion method combining RGB-D with IMU is proposed in this paper. In the proposed method, we design a loose fusion strategy based on the RGB-D camera information and IMU data, which is to utilize the IMU data for position estimation when the corresponding point matches are quite few. While there are a lot of matches, the RGB-D information is still used to estimate position. The final pose would be optimized by General Graph Optimization (g2o) framework to reduce error. The experimental results show that the proposed method is better than the RGB-D camera's method. And this method can continue working stably for indoor environment with sparse textures in the SLAM system.

  20. GPS/MEMS IMU/Microprocessor Board for Navigation

    Science.gov (United States)

    Gender, Thomas K.; Chow, James; Ott, William E.

    2009-01-01

    A miniaturized instrumentation package comprising a (1) Global Positioning System (GPS) receiver, (2) an inertial measurement unit (IMU) consisting largely of surface-micromachined sensors of the microelectromechanical systems (MEMS) type, and (3) a microprocessor, all residing on a single circuit board, is part of the navigation system of a compact robotic spacecraft intended to be released from a larger spacecraft [e.g., the International Space Station (ISS)] for exterior visual inspection of the larger spacecraft. Variants of the package may also be useful in terrestrial collision-detection and -avoidance applications. The navigation solution obtained by integrating the IMU outputs is fed back to a correlator in the GPS receiver to aid in tracking GPS signals. The raw GPS and IMU data are blended in a Kalman filter to obtain an optimal navigation solution, which can be supplemented by range and velocity data obtained by use of (l) a stereoscopic pair of electronic cameras aboard the robotic spacecraft and/or (2) a laser dynamic range imager aboard the ISS. The novelty of the package lies mostly in those aspects of the design of the MEMS IMU that pertain to controlling mechanical resonances and stabilizing scale factors and biases.

  1. IMU-Based Online Kinematic Calibration of Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Guanglong Du

    2013-01-01

    Full Text Available Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA and Kalman Filter (KF to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

  2. Gait Dynamics Sensing Using IMU Sensor Array System

    Directory of Open Access Journals (Sweden)

    Slavomir Kardos

    2017-01-01

    Full Text Available The article deals with a progressive approach in gait sensing. It is incorporated by IMU (Inertia Measurement Unit complex sensors whose field of acting is mainly the motion sensing in medicine, automotive and other industry, self-balancing systems, etc. They allow acquiring the position and orientation of an object in 3D space. Using several IMU units the sensing array for gait dynamics was made. Based on human gait analysis the 7-sensor array was designed to build a gait motion dynamics sensing system with the possibility of graphical interpretation of data from the sensing modules in real-time graphical application interface under the LabVIEW platform. The results of analyses can serve as the information for medical diagnostic purposes. The main control part of the system is microcontroller, whose function is to control the data collection and flow, provide the communication and power management.

  3. A comparison of stable platform and strapdown airborne gravity

    DEFF Research Database (Denmark)

    Glennie, C.L.; Schwarz, K.P.; Bruton, A.M.

    2000-01-01

    To date, operational airborne gravity results have been obtained using either a damped two-axis stable platform gravimeter system such as the LaCoste and Romberg (LCR) S-model marine gravimeter or a strapdown inertial navigation system (INS), showing comparable accuracies. In June 1998 three flight...

  4. Intent of Study on the Use of a Dual Airborne Laser Scanner (ALS) in Conjunction with a Tactical Grade Inertial Measurement Unit (IMU) for Unmanned Aerial Vehicle (UAV) Navigation and Mapping in Unknown, Non-Global Positioning System (GPS), Environments

    Science.gov (United States)

    2006-08-05

    ADDRESS(ES) 10. SPONSOR/MONITOR’S ACRONYM(S) AF Office of Scientific h Researc 875 N. Randolph St. Room 3112 11. SPONSOR/MONITOR’S REPORT...the process is often time-consuming and expensive. As the IMU market is experiencing a migration trend towards Micro Electro-Mechanical System (MEMS

  5. Modern Breakthrough Technologies Enable New Applications Based on IMU Systems

    Directory of Open Access Journals (Sweden)

    Nunzio Abbate

    2011-01-01

    Full Text Available This paper describes IMU (Inertial Measurement Unit platforms and their main target applications with a special focus on the 10-degree-of-freedom (10-DOF inertial platform iNEMO and its technical features and performances. The iNEMO module is equipped with a 3-axis MEMS accelerometer, a 3-axis MEMS gyroscope, a 3-axis MEMS magnetometer, a pressure sensor, and a temperature sensor. Furthermore, the Microcontroller Unit (MCU collects measurements by the sensors and computes the orientation through a customized Extended Kalman Filter (EKF for sensor fusion.

  6. LiDAR-IMU Time Delay Calibration Based on Iterative Closest Point and Iterated Sigma Point Kalman Filter.

    Science.gov (United States)

    Liu, Wanli

    2017-03-08

    The time delay calibration between Light Detection and Ranging (LiDAR) and Inertial Measurement Units (IMUs) is an essential prerequisite for its applications. However, the correspondences between LiDAR and IMU measurements are usually unknown, and thus cannot be computed directly for the time delay calibration. In order to solve the problem of LiDAR-IMU time delay calibration, this paper presents a fusion method based on iterative closest point (ICP) and iterated sigma point Kalman filter (ISPKF), which combines the advantages of ICP and ISPKF. The ICP algorithm can precisely determine the unknown transformation between LiDAR-IMU; and the ISPKF algorithm can optimally estimate the time delay calibration parameters. First of all, the coordinate transformation from the LiDAR frame to the IMU frame is realized. Second, the measurement model and time delay error model of LiDAR and IMU are established. Third, the methodology of the ICP and ISPKF procedure is presented for LiDAR-IMU time delay calibration. Experimental results are presented that validate the proposed method and demonstrate the time delay error can be accurately calibrated.

  7. Radio/FADS/IMU integrated navigation for Mars entry

    Science.gov (United States)

    Jiang, Xiuqiang; Li, Shuang; Huang, Xiangyu

    2018-03-01

    Supposing future orbiting and landing collaborative exploration mission as the potential project background, this paper addresses the issue of Mars entry integrated navigation using radio beacon, flush air data sensing system (FADS), and inertial measurement unit (IMU). The range and Doppler information sensed from an orbiting radio beacon, the dynamic pressure and heating data sensed from flush air data sensing system, and acceleration and attitude angular rate outputs from an inertial measurement unit are integrated in an unscented Kalman filter to perform state estimation and suppress the system and measurement noise. Computer simulations show that the proposed integrated navigation scheme can enhance the navigation accuracy, which enables precise entry guidance for the given Mars orbiting and landing collaborative exploration mission.

  8. Extending the performance of single-degree-of-freedom rate integrating gyros in strapdown applications

    Science.gov (United States)

    Baker, G. N.

    This paper examines the constraints upon a typical manufacturer of gyros and strapdown systems. It describes that while being responsive to exchange and keeping abreast of 'state of the art' technology, there are many reasons why the manufacturer must satisfy the market using existing technology and production equipment. The Single-Degree-of-Freedom Rate Integrating Gyro is a well established product, yet is capable of achieving far higher performances than originally envisaged due to modelling and characterization within digital strapdown systems. The parameters involved are discussed, and a description given of the calibration process undertaken on a strapdown system being manufactured in a production environment in batch quantities.

  9. Real-Time Large Scale 3d Reconstruction by Fusing Kinect and Imu Data

    Science.gov (United States)

    Huai, J.; Zhang, Y.; Yilmaz, A.

    2015-08-01

    Kinect-style RGB-D cameras have been used to build large scale dense 3D maps for indoor environments. These maps can serve many purposes such as robot navigation, and augmented reality. However, to generate dense 3D maps of large scale environments is still very challenging. In this paper, we present a mapping system for 3D reconstruction that fuses measurements from a Kinect and an inertial measurement unit (IMU) to estimate motion. Our major achievements include: (i) Large scale consistent 3D reconstruction is realized by volume shifting and loop closure; (ii) The coarse-to-fine iterative closest point (ICP) algorithm, the SIFT odometry, and IMU odometry are combined to robustly and precisely estimate pose. In particular, ICP runs routinely to track the Kinect motion. If ICP fails in planar areas, the SIFT odometry provides incremental motion estimate. If both ICP and the SIFT odometry fail, e.g., upon abrupt motion or inadequate features, the incremental motion is estimated by the IMU. Additionally, the IMU also observes the roll and pitch angles which can reduce long-term drift of the sensor assembly. In experiments on a consumer laptop, our system estimates motion at 8Hz on average while integrating color images to the local map and saving volumes of meshes concurrently. Moreover, it is immune to tracking failures, and has smaller drift than the state-of-the-art systems in large scale reconstruction.

  10. Magnetometer-Augmented IMU Simulator: In-Depth Elaboration

    Directory of Open Access Journals (Sweden)

    Thomas Brunner

    2015-03-01

    Full Text Available The location of objects is a growing research topic due, for instance, to the expansion of civil drones or intelligent vehicles. This expansion was made possible through the development of microelectromechanical systems (MEMS, inexpensive and miniaturized inertial sensors. In this context, this article describes the development of a new simulator which generates sensor measurements, giving a specific input trajectory. This will allow the comparison of pose estimation algorithms. To develop this simulator, the measurement equations of every type of sensor have to be analytically determined. To achieve this objective, classical kinematic equations are used for the more common sensors, i.e., accelerometers and rate gyroscopes. As nowadays, the MEMS inertial measurement units (IMUs are generally magnetometer-augmented, an absolute world magnetic model is implemented. After the determination of the perfect measurement (through the error-free sensor models, realistic error models are developed to simulate real IMU behavior. Finally, the developed simulator is subjected to different validation tests.

  11. Analysis and Compensation of Modulation Angular Rate Error Based on Missile-Borne Rotation Semi-Strapdown Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Jiayu Zhang

    2018-05-01

    Full Text Available The Semi-Strapdown Inertial Navigation System (SSINS provides a new solution to attitude measurement of a high-speed rotating missile. However, micro-electro-mechanical-systems (MEMS inertial measurement unit (MIMU outputs are corrupted by significant sensor errors. In order to improve the navigation precision, a rotation modulation technology method called Rotation Semi-Strapdown Inertial Navigation System (RSSINS is introduced into SINS. In fact, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. The changing rotary angular rate has an impact on the inertial sensor error self-compensation. In this paper, the influence of modulation angular rate error, including acceleration-deceleration process, and instability of the angular rate on the navigation accuracy of RSSINS is deduced and the error characteristics of the reciprocating rotation scheme are analyzed. A new compensation method is proposed to remove or reduce sensor errors so as to make it possible to maintain high precision autonomous navigation performance by MIMU when there is no external aid. Experiments have been carried out to validate the performance of the method. In addition, the proposed method is applicable for modulation angular rate error compensation under various dynamic conditions.

  12. a Man-Portable Imu-Free Mobile Mapping System

    Science.gov (United States)

    Nüchter, A.; Borrmann, D.; Koch, P.; Kühn, M.; May, S.

    2015-08-01

    Mobile mapping systems are commonly mounted on cars, ships and robots. The data is directly geo-referenced using GPS data and expensive IMU (inertial measurement systems). Driven by the need for flexible, indoor mapping systems we present an inexpensive mobile mapping solution that can be mounted on a backpack. It combines a horizontally mounted 2D profiler with a constantly spinning 3D laser scanner. The initial system featuring a low-cost MEMS IMU was revealed and demonstrated at MoLaS: Technology Workshop Mobile Laser Scanning at Fraunhofer IPM in Freiburg in November 2014. In this paper, we present an IMU-free solution.

  13. An Adaptive Damping Network Designed for Strapdown Fiber Optic Gyrocompass System for Ships

    Directory of Open Access Journals (Sweden)

    Jin Sun

    2017-03-01

    Full Text Available The strapdown fiber optic gyrocompass (strapdown FOGC system for ships primarily works on external horizontal damping and undamping statuses. When there are large sea condition changes, the system will switch frequently between the external horizontal damping status and the undamping status. This means that the system is always in an adjustment status and influences the dynamic accuracy of the system. Aiming at the limitations of the conventional damping method, a new design idea is proposed, where the adaptive control method is used to design the horizontal damping network of the strapdown FOGC system. According to the size of acceleration, the parameters of the damping network are changed to make the system error caused by the ship’s maneuvering to a minimum. Furthermore, the jump in damping coefficient was transformed into gradual change to make a smooth system status switch. The adaptive damping network was applied for strapdown FOGC under the static and dynamic condition, and its performance was compared with the conventional damping, and undamping means. Experimental results showed that the adaptive damping network was effective in improving the dynamic performance of the strapdown FOGC.

  14. Low-cost inertial measurement unit.

    Energy Technology Data Exchange (ETDEWEB)

    Deyle, Travis Jay

    2005-03-01

    Sandia National Laboratories performs many expensive tests using inertial measurement units (IMUs)--systems that use accelerometers, gyroscopes, and other sensors to measure flight dynamics in three dimensions. For the purpose of this report, the metrics used to evaluate an IMU are cost, size, performance, resolution, upgradeability and testing. The cost of a precision IMU is very high and can cost hundreds of thousands of dollars. Thus the goals and results of this project are as follows: (1) Examine the data flow in an IMU and determine a generic IMU design. (2) Discuss a high cost IMU implementation and its theoretically achievable results. (3) Discuss design modifications that would save money for suited applications. (4) Design and implement a low cost IMU and discuss its theoretically achievable results. (5) Test the low cost IMU and compare theoretical results with empirical results. (6) Construct a more streamlined printed circuit board design reducing noise, increasing capabilities, and constructing a self-contained unit. Using these results, we can compare a high cost IMU versus a low cost IMU using the metrics from above. Further, we can examine and suggest situations where a low cost IMU could be used instead of a high cost IMU for saving cost, size, or both.

  15. IMU-to-Segment Assignment and Orientation Alignment for the Lower Body Using Deep Learning.

    Science.gov (United States)

    Zimmermann, Tobias; Taetz, Bertram; Bleser, Gabriele

    2018-01-19

    Human body motion analysis based on wearable inertial measurement units (IMUs) receives a lot of attention from both the research community and the and industrial community. This is due to the significant role in, for instance, mobile health systems, sports and human computer interaction. In sensor based activity recognition, one of the major issues for obtaining reliable results is the sensor placement/assignment on the body. For inertial motion capture (joint kinematics estimation) and analysis, the IMU-to-segment (I2S) assignment and alignment are central issues to obtain biomechanical joint angles. Existing approaches for I2S assignment usually rely on hand crafted features and shallow classification approaches (e.g., support vector machines), with no agreement regarding the most suitable features for the assignment task. Moreover, estimating the complete orientation alignment of an IMU relative to the segment it is attached to using a machine learning approach has not been shown in literature so far. This is likely due to the high amount of training data that have to be recorded to suitably represent possible IMU alignment variations. In this work, we propose online approaches for solving the assignment and alignment tasks for an arbitrary amount of IMUs with respect to a biomechanical lower body model using a deep learning architecture and windows of 128 gyroscope and accelerometer data samples. For this, we combine convolutional neural networks (CNNs) for local filter learning with long-short-term memory (LSTM) recurrent networks as well as generalized recurrent units (GRUs) for learning time dynamic features. The assignment task is casted as a classification problem, while the alignment task is casted as a regression problem. In this framework, we demonstrate the feasibility of augmenting a limited amount of real IMU training data with simulated alignment variations and IMU data for improving the recognition/estimation accuracies. With the proposed

  16. IMU-to-Segment Assignment and Orientation Alignment for the Lower Body Using Deep Learning

    Directory of Open Access Journals (Sweden)

    Tobias Zimmermann

    2018-01-01

    Full Text Available Human body motion analysis based on wearable inertial measurement units (IMUs receives a lot of attention from both the research community and the and industrial community. This is due to the significant role in, for instance, mobile health systems, sports and human computer interaction. In sensor based activity recognition, one of the major issues for obtaining reliable results is the sensor placement/assignment on the body. For inertial motion capture (joint kinematics estimation and analysis, the IMU-to-segment (I2S assignment and alignment are central issues to obtain biomechanical joint angles. Existing approaches for I2S assignment usually rely on hand crafted features and shallow classification approaches (e.g., support vector machines, with no agreement regarding the most suitable features for the assignment task. Moreover, estimating the complete orientation alignment of an IMU relative to the segment it is attached to using a machine learning approach has not been shown in literature so far. This is likely due to the high amount of training data that have to be recorded to suitably represent possible IMU alignment variations. In this work, we propose online approaches for solving the assignment and alignment tasks for an arbitrary amount of IMUs with respect to a biomechanical lower body model using a deep learning architecture and windows of 128 gyroscope and accelerometer data samples. For this, we combine convolutional neural networks (CNNs for local filter learning with long-short-term memory (LSTM recurrent networks as well as generalized recurrent units (GRUs for learning time dynamic features. The assignment task is casted as a classification problem, while the alignment task is casted as a regression problem. In this framework, we demonstrate the feasibility of augmenting a limited amount of real IMU training data with simulated alignment variations and IMU data for improving the recognition/estimation accuracies. With the

  17. IMU-Based Joint Angle Measurement for Gait Analysis

    Directory of Open Access Journals (Sweden)

    Thomas Seel

    2014-04-01

    Full Text Available This contribution is concerned with joint angle calculation based on inertial measurement data in the context of human motion analysis. Unlike most robotic devices, the human body lacks even surfaces and right angles. Therefore, we focus on methods that avoid assuming certain orientations in which the sensors are mounted with respect to the body segments. After a review of available methods that may cope with this challenge, we present a set of new methods for: (1 joint axis and position identification; and (2 flexion/extension joint angle measurement. In particular, we propose methods that use only gyroscopes and accelerometers and, therefore, do not rely on a homogeneous magnetic field. We provide results from gait trials of a transfemoral amputee in which we compare the inertial measurement unit (IMU-based methods to an optical 3D motion capture system. Unlike most authors, we place the optical markers on anatomical landmarks instead of attaching them to the IMUs. Root mean square errors of the knee flexion/extension angles are found to be less than 1° on the prosthesis and about 3° on the human leg. For the plantar/dorsiflexion of the ankle, both deviations are about 1°.

  18. Stereo and IMU-Assisted Visual Odometry for Small Robots

    Science.gov (United States)

    2012-01-01

    This software performs two functions: (1) taking stereo image pairs as input, it computes stereo disparity maps from them by cross-correlation to achieve 3D (three-dimensional) perception; (2) taking a sequence of stereo image pairs as input, it tracks features in the image sequence to estimate the motion of the cameras between successive image pairs. A real-time stereo vision system with IMU (inertial measurement unit)-assisted visual odometry was implemented on a single 750 MHz/520 MHz OMAP3530 SoC (system on chip) from TI (Texas Instruments). Frame rates of 46 fps (frames per second) were achieved at QVGA (Quarter Video Graphics Array i.e. 320 240), or 8 fps at VGA (Video Graphics Array 640 480) resolutions, while simultaneously tracking up to 200 features, taking full advantage of the OMAP3530's integer DSP (digital signal processor) and floating point ARM processors. This is a substantial advancement over previous work as the stereo implementation produces 146 Mde/s (millions of disparities evaluated per second) in 2.5W, yielding a stereo energy efficiency of 58.8 Mde/J, which is 3.75 better than prior DSP stereo while providing more functionality.

  19. Drift reduction in strapdown airborne gravimetry using a simple thermal correction

    DEFF Research Database (Denmark)

    Becker, David; Nielsen, J. Emil; Ayres-Sampaio, Diogo

    2015-01-01

    Previous work has shown, that strapdown airborne gravimeters can have a comparable or even superior performance in the higher frequency domain (resolution of few kilometres), compared to classical stable-platform air gravimeters using springs, such as the LaCoste and Romberg (LCR) S-gravimeter. H...

  20. A flight test of the strapdown airborne gravimeter SGA-WZ in Greenland

    DEFF Research Database (Denmark)

    Zhao, Lei; Forsberg, René; Wu, Meiping

    2015-01-01

    -WZ strapdown airborne gravimeter in Greenland, in an area with good gravity coverage from earlier marine and airborne surveys. An overview of this new system SGA-WZ is given, including system design, sensor performance and data processing. The processing of the SGA-WZ includes a 160 s length finite impulse...

  1. Implementation of an IMU Aided Image Stacking Algorithm in a Digital Camera for Unmanned Aerial Vehicles.

    Science.gov (United States)

    Audi, Ahmad; Pierrot-Deseilligny, Marc; Meynard, Christophe; Thom, Christian

    2017-07-18

    Images acquired with a long exposure time using a camera embedded on UAVs (Unmanned Aerial Vehicles) exhibit motion blur due to the erratic movements of the UAV. The aim of the present work is to be able to acquire several images with a short exposure time and use an image processing algorithm to produce a stacked image with an equivalent long exposure time. Our method is based on the feature point image registration technique. The algorithm is implemented on the light-weight IGN (Institut national de l'information géographique) camera, which has an IMU (Inertial Measurement Unit) sensor and an SoC (System on Chip)/FPGA (Field-Programmable Gate Array). To obtain the correct parameters for the resampling of the images, the proposed method accurately estimates the geometrical transformation between the first and the N -th images. Feature points are detected in the first image using the FAST (Features from Accelerated Segment Test) detector, then homologous points on other images are obtained by template matching using an initial position benefiting greatly from the presence of the IMU sensor. The SoC/FPGA in the camera is used to speed up some parts of the algorithm in order to achieve real-time performance as our ultimate objective is to exclusively write the resulting image to save bandwidth on the storage device. The paper includes a detailed description of the implemented algorithm, resource usage summary, resulting processing time, resulting images and block diagrams of the described architecture. The resulting stacked image obtained for real surveys does not seem visually impaired. An interesting by-product of this algorithm is the 3D rotation estimated by a photogrammetric method between poses, which can be used to recalibrate in real time the gyrometers of the IMU. Timing results demonstrate that the image resampling part of this algorithm is the most demanding processing task and should also be accelerated in the FPGA in future work.

  2. MONITORING HIGH-FREQUENCY OCEAN SIGNALS USING LOW-COST GNSS/IMU BUOYS

    Directory of Open Access Journals (Sweden)

    Y.-L. Huang

    2016-06-01

    Full Text Available In oceans there are different ocean signals covering the multi-frequencies including tsunami, meteotsunami, storm surge, as sea level change, and currents. These signals have the direct and significant impact on the economy and life of human-beings. Therefore, measuring ocean signals accurately becomes more and more important and necessary. Nowadays, there are many techniques and methods commonly used for monitoring oceans, but each has its limitation. For example, tide gauges only measure sea level relative to benchmarks and are disturbed unevenly, and satellite altimeter measurements are not continuous and inaccurate near coastal oceans. In addition, high-frequency ocean signals such as tsunami and meteotsunami cannot be sufficiently detected by 6-minutes tide gauge measurements or 10-day sampled altimetry data. Moreover, traditional accelerometer buoy is heavy, expensive and the low-frequency noise caused by the instrument is unavoidable. In this study, a small, low-cost and self-assembly autonomous Inertial Measurement Unit (IMU that independently collects continuous acceleration and angular velocity data is mounted on a GNSS buoy to provide the positions and tilts of the moving buoy. The main idea is to integrate the Differential GNSS (DGNSS or Precise Point Positioning (PPP solutions with IMU data, and then evaluate the performance by comparing with in situ tide gauges. The validation experiments conducted in the NCKU Tainan Hydraulics Laboratory showed that GNSS and IMU both can detect the simulated regular wave frequency and height, and the field experiments in the Anping Harbor, Tainan, Taiwan showed that the low-cost GNSS buoy has an excellent ability to observe significant wave heights in amplitude and frequency.

  3. Implementation of an IMU Aided Image Stacking Algorithm in a Digital Camera for Unmanned Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Ahmad Audi

    2017-07-01

    Full Text Available Images acquired with a long exposure time using a camera embedded on UAVs (Unmanned Aerial Vehicles exhibit motion blur due to the erratic movements of the UAV. The aim of the present work is to be able to acquire several images with a short exposure time and use an image processing algorithm to produce a stacked image with an equivalent long exposure time. Our method is based on the feature point image registration technique. The algorithm is implemented on the light-weight IGN (Institut national de l’information géographique camera, which has an IMU (Inertial Measurement Unit sensor and an SoC (System on Chip/FPGA (Field-Programmable Gate Array. To obtain the correct parameters for the resampling of the images, the proposed method accurately estimates the geometrical transformation between the first and the N-th images. Feature points are detected in the first image using the FAST (Features from Accelerated Segment Test detector, then homologous points on other images are obtained by template matching using an initial position benefiting greatly from the presence of the IMU sensor. The SoC/FPGA in the camera is used to speed up some parts of the algorithm in order to achieve real-time performance as our ultimate objective is to exclusively write the resulting image to save bandwidth on the storage device. The paper includes a detailed description of the implemented algorithm, resource usage summary, resulting processing time, resulting images and block diagrams of the described architecture. The resulting stacked image obtained for real surveys does not seem visually impaired. An interesting by-product of this algorithm is the 3D rotation estimated by a photogrammetric method between poses, which can be used to recalibrate in real time the gyrometers of the IMU. Timing results demonstrate that the image resampling part of this algorithm is the most demanding processing task and should also be accelerated in the FPGA in future work.

  4. Pose estimation of surgical instrument using sensor data fusion with optical tracker and IMU based on Kalman filter

    Directory of Open Access Journals (Sweden)

    Oh Hyunmin

    2015-01-01

    Full Text Available Tracking system is essential for Image Guided Surgery(IGS. The Optical Tracking Sensor(OTS has been widely used as tracking system for IGS due to its high accuracy and easy usage. However, OTS has a limit that tracking fails when occlusion of marker occurs. In this paper, sensor fusion with OTS and Inertial Measurement Unit(IMU is proposed to solve this problem. The proposed algorithm improves the accuracy of tracking system by eliminating scattering error of the sensor and supplements the disadvantages of OTS and IMU through sensor fusion based on Kalman filter. Also, coordinate axis calibration method that improves the accuracy is introduced. The performed experiment verifies the effectualness of the proposed algorithm.

  5. A cascaded two-step Kalman filter for estimation of human body segment orientation using MEMS-IMU.

    Science.gov (United States)

    Zihajehzadeh, S; Loh, D; Lee, M; Hoskinson, R; Park, E J

    2014-01-01

    Orientation of human body segments is an important quantity in many biomechanical analyses. To get robust and drift-free 3-D orientation, raw data from miniature body worn MEMS-based inertial measurement units (IMU) should be blended in a Kalman filter. Aiming at less computational cost, this work presents a novel cascaded two-step Kalman filter orientation estimation algorithm. Tilt angles are estimated in the first step of the proposed cascaded Kalman filter. The estimated tilt angles are passed to the second step of the filter for yaw angle calculation. The orientation results are benchmarked against the ones from a highly accurate tactical grade IMU. Experimental results reveal that the proposed algorithm provides robust orientation estimation in both kinematically and magnetically disturbed conditions.

  6. Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer

    Science.gov (United States)

    El-Mowafy, Ahmed; Kubo, Nobuaki

    2017-05-01

    Continuous and trustworthy positioning is a critical capability for advanced driver assistance systems (ADAS). To achieve continuous positioning, methods such as global navigation satellite systems real-time kinematic (RTK), Doppler-based positioning, and positioning using low-cost inertial measurement unit (IMU) with car speedometer data are combined in this study. To ensure reliable positioning, the system should have integrity monitoring above a certain level, such as 99%. Achieving this level when combining different types of measurements that have different characteristics and different types of errors is a challenge. In this study, a novel integrity monitoring approach is presented for the proposed integrated system. A threat model of the measurements of the system components is discussed, which includes both the nominal performance and possible fault modes. A new protection level is presented to bound the maximum directional position error. The proposed approach was evaluated through a kinematic test in an urban area in Japan with a focus on horizontal positioning. Test results show that by integrating RTK, Doppler with IMU/speedometer, 100% positioning availability was achieved. The integrity monitoring availability was assessed and found to meet the target value where the position errors were bounded by the protection level, which was also less than an alert level, indicating the effectiveness of the proposed approach.

  7. GEOREFERENCING IN GNSS-CHALLENGED ENVIRONMENT: INTEGRATING UWB AND IMU TECHNOLOGIES

    Directory of Open Access Journals (Sweden)

    C. K. Toth

    2017-05-01

    Full Text Available Acquiring geospatial data in GNSS compromised environments remains a problem in mapping and positioning in general. Urban canyons, heavily vegetated areas, indoor environments represent different levels of GNSS signal availability from weak to no signal reception. Even outdoors, with multiple GNSS systems, with an ever-increasing number of satellites, there are many situations with limited or no access to GNSS signals. Independent navigation sensors, such as IMU can provide high-data rate information but their initial accuracy degrades quickly, as the measurement data drift over time unless positioning fixes are provided from another source. At The Ohio State University’s Satellite Positioning and Inertial Navigation (SPIN Laboratory, as one feasible solution, Ultra- Wideband (UWB radio units are used to aid positioning and navigating in GNSS compromised environments, including indoor and outdoor scenarios. Here we report about experiences obtained with georeferencing a pushcart based sensor system under canopied areas. The positioning system is based on UWB and IMU sensor integration, and provides sensor platform orientation for an electromagnetic inference (EMI sensor. Performance evaluation results are provided for various test scenarios, confirming acceptable results for applications where high accuracy is not required.

  8. Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer

    International Nuclear Information System (INIS)

    El-Mowafy, Ahmed; Kubo, Nobuaki

    2017-01-01

    Continuous and trustworthy positioning is a critical capability for advanced driver assistance systems (ADAS). To achieve continuous positioning, methods such as global navigation satellite systems real-time kinematic (RTK), Doppler-based positioning, and positioning using low-cost inertial measurement unit (IMU) with car speedometer data are combined in this study. To ensure reliable positioning, the system should have integrity monitoring above a certain level, such as 99%. Achieving this level when combining different types of measurements that have different characteristics and different types of errors is a challenge. In this study, a novel integrity monitoring approach is presented for the proposed integrated system. A threat model of the measurements of the system components is discussed, which includes both the nominal performance and possible fault modes. A new protection level is presented to bound the maximum directional position error. The proposed approach was evaluated through a kinematic test in an urban area in Japan with a focus on horizontal positioning. Test results show that by integrating RTK, Doppler with IMU/speedometer, 100% positioning availability was achieved. The integrity monitoring availability was assessed and found to meet the target value where the position errors were bounded by the protection level, which was also less than an alert level, indicating the effectiveness of the proposed approach. (paper)

  9. Performance analysis of an IMU-augmented GNSS tracking system on board the MAIUS-1 sounding rocket

    Science.gov (United States)

    Braun, Benjamin; Grillenberger, Andreas; Markgraf, Markus

    2018-05-01

    Satellite navigation receivers are adequate tracking sensors for range safety of both orbital launch vehicles and suborbital sounding rockets. Due to high accuracy and its low system complexity, satellite navigation is seen as well-suited supplement or replacement of conventional tracking systems like radar. Having the well-known shortcomings of satellite navigation like deliberate or unintentional interferences in mind, it is proposed to augment the satellite navigation receiver by an inertial measurement unit (IMU) to enhance continuity and availability of localization. The augmented receiver is thus enabled to output at least an inertial position solution in case of signal outages. In a previous study, it was shown by means of simulation using the example of Ariane 5 that the performance of a low-grade microelectromechanical IMU is sufficient to bridge expected outages of some ten seconds, and still meeting the range safety requirements in effect. In this publication, these theoretical findings shall be substantiated by real flight data that were recorded on MAIUS-1, a sounding rocket launched from Esrange, Sweden, in early 2017. The analysis reveals that the chosen representative of a microelectromechanical IMU is suitable to bridge outages of up to thirty seconds.

  10. A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors.

    Science.gov (United States)

    Song, Yu; Nuske, Stephen; Scherer, Sebastian

    2016-12-22

    State estimation is the most critical capability for MAV (Micro-Aerial Vehicle) localization, autonomous obstacle avoidance, robust flight control and 3D environmental mapping. There are three main challenges for MAV state estimation: (1) it can deal with aggressive 6 DOF (Degree Of Freedom) motion; (2) it should be robust to intermittent GPS (Global Positioning System) (even GPS-denied) situations; (3) it should work well both for low- and high-altitude flight. In this paper, we present a state estimation technique by fusing long-range stereo visual odometry, GPS, barometric and IMU (Inertial Measurement Unit) measurements. The new estimation system has two main parts, a stochastic cloning EKF (Extended Kalman Filter) estimator that loosely fuses both absolute state measurements (GPS, barometer) and the relative state measurements (IMU, visual odometry), and is derived and discussed in detail. A long-range stereo visual odometry is proposed for high-altitude MAV odometry calculation by using both multi-view stereo triangulation and a multi-view stereo inverse depth filter. The odometry takes the EKF information (IMU integral) for robust camera pose tracking and image feature matching, and the stereo odometry output serves as the relative measurements for the update of the state estimation. Experimental results on a benchmark dataset and our real flight dataset show the effectiveness of the proposed state estimation system, especially for the aggressive, intermittent GPS and high-altitude MAV flight.

  11. Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance.

    Science.gov (United States)

    Li, Tuan; Zhang, Hongping; Niu, Xiaoji; Gao, Zhouzheng

    2017-10-27

    Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability and ambiguity resolution (AR) success rate, especially in kinematic environments. Recently, multi-Global Navigation Satellite System (multi-GNSS) has been applied to enhance the RTK performance in terms of availability and reliability of AR. In order to further enhance the multi-GNSS single-frequency RTK performance in terms of reliability, continuity and accuracy, a low-cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) is adopted in this contribution. We tightly integrate the single-frequency GPS/BeiDou/GLONASS and MEMS-IMU through the extended Kalman filter (EKF), which directly fuses the ambiguity-fixed double-differenced (DD) carrier phase observables and IMU data. A field vehicular test was carried out to evaluate the impacts of the multi-GNSS and IMU on the AR and positioning performance in different system configurations. Test results indicate that the empirical success rate of single-epoch AR for the tightly-coupled single-frequency multi-GNSS RTK/INS integration is over 99% even at an elevation cut-off angle of 40°, and the corresponding position time series is much more stable in comparison with the GPS solution. Besides, GNSS outage simulations show that continuous positioning with certain accuracy is possible due to the INS bridging capability when GNSS positioning is not available.

  12. FDIR for the IMU Component of AOCS Systems

    Directory of Open Access Journals (Sweden)

    Maurício N. Pontuschka

    2014-01-01

    Full Text Available The main objective of this paper is the study of a FDIR for an IMU aiming at space applications with focus on the gyro signal analysis and the tests of the filtering algorithms. The algorithms have been tested by using lab data provided by the DMC LABSIM (Physical’s Simulation Laboratory of the Space Mechanics and Control Division of INPE. The results have demonstrated good agreement with the concepts applied in this study. Automatic detection procedures are very important in the characterization of occurrence, definition of criteria, and device types in the scenario of AOCS FDIR. An IMU comprised of four gyros in a tetrahedral configuration is one of the assumed components for the AOCS (attitude and orbit control subsystem considered in this work. The types of failures considered in this paper are the step abrupt change, ramp/drift/slow, stuck, cyclic, erratic, spike, and finally the stuck for variance alteration noise. An appropriate algorithm for the automatic detection of each type of fault is developed. The approach includes the mapping capability of fault event indicators to the IMU. This mapping is very important in the characterization of the occurrence, definition of criteria, and device types as well as associated fault identification for an AOCS.

  13. A study of redundancy management strategy for tetrad strap-down inertial systems. [error detection codes

    Science.gov (United States)

    Hruby, R. J.; Bjorkman, W. S.; Schmidt, S. F.; Carestia, R. A.

    1979-01-01

    Algorithms were developed that attempt to identify which sensor in a tetrad configuration has experienced a step failure. An algorithm is also described that provides a measure of the confidence with which the correct identification was made. Experimental results are presented from real-time tests conducted on a three-axis motion facility utilizing an ortho-skew tetrad strapdown inertial sensor package. The effects of prediction errors and of quantization on correct failure identification are discussed as well as an algorithm for detecting second failures through prediction.

  14. A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles.

    Science.gov (United States)

    Meng, Xiaoli; Wang, Heng; Liu, Bingbing

    2017-09-18

    Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.

  15. A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Xiaoli Meng

    2017-09-01

    Full Text Available Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System/IMU (Inertial Measurement Unit/DMI (Distance-Measuring Instruments, a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.

  16. A new calibration method for tri-axial field sensors in strap-down navigation systems

    International Nuclear Information System (INIS)

    Li, Xiang; Li, Zhi

    2012-01-01

    This paper presents a novel calibration method for tri-axial field sensors, such as magnetometers and accelerometers, in strap-down navigation systems. Strap-down tri-axial sensors have been widely used as they have the advantages of small size and low cost, but they need to be calibrated in order to ensure their accuracy. The most commonly used calibration method for a tri-axial field sensor is based on ellipsoid fitting, which has no requirement for external references. However, the self-calibration based on ellipsoid fitting is unable to determine and compensate the mutual misalignment between different sensors in a multi-sensor system. Therefore, a novel calibration method that employs the invariance of the dot product of two constant vectors is introduced in this paper. The proposed method, which is named dot product invariance method, brings a complete solution for the error model of tri-axial field sensors, and can solve the problem of alignment in a multi-sensor system. Its effectiveness and superiority over the ellipsoid fitting method are illustrated by numerical simulations, and its application on a digital magnetic compass shows significant enhancement of the heading accuracy. (paper)

  17. THERMAL PROTECTION AND THERMAL STABILIZATION OF FIBER-OPTICAL GYROSCOPE INCLUDED IN STRAPDOWN INERTIAL NAVIGATION SYSTEM

    Directory of Open Access Journals (Sweden)

    D. S. Gromov

    2014-03-01

    Full Text Available It is known, that temperature perturbations and thermal modes have significant influence on the accuracy of a fiber-optical gyroscope. Nowadays, thermal perturbations are among the main problems in the field of navigation accuracy. Review of existing methods for decrease of temperature influences on the accuracy of a strapdown inertial navigation system with fiberoptical gyros showed, that the usage of constructive and compensation methods only is insufficient and, therefore, thermostabilization is required. Reversible thermostabilization system is offered, its main executive elements are thermoelectric modules (Peltier’s modules, heat transfer from which is provided by heatsinks at work surfaces of modules. This variant of thermostabilization maintenance is considered; Peltier’s modules and temperature sensors for the system are chosen. Parameters of heatsinks for heat transfer intensification are calculated. Fans for necessary air circulation in the device are chosen and thickness of thermal isolation is calculated. Calculations of thermal modes of navigation system with thermostabilization are made in modern software Autodesk Simulation CFD. Comparison of results for present and previous researches and calculations shows essential decrease in gradients of temperature on gyro surfaces and better uniformity of temperature field in the whole device. Conclusions about efficiency of the given method usage in view of accuracy improvement of navigation system are made. Thermostabilization provision of a strapdown inertial navigation system with fiberoptical gyros is proved. Thermostabilization application in combination with compensational methods can reach a necessary accuracy of navigation system.

  18. Rigorous Performance Evaluation of Smartphone GNSS/IMU Sensors for ITS Applications

    Directory of Open Access Journals (Sweden)

    Vassilis Gikas

    2016-08-01

    Full Text Available With the rapid growth in smartphone technologies and improvement in their navigation sensors, an increasing amount of location information is now available, opening the road to the provision of new Intelligent Transportation System (ITS services. Current smartphone devices embody miniaturized Global Navigation Satellite System (GNSS, Inertial Measurement Unit (IMU and other sensors capable of providing user position, velocity and attitude. However, it is hard to characterize their actual positioning and navigation performance capabilities due to the disparate sensor and software technologies adopted among manufacturers and the high influence of environmental conditions, and therefore, a unified certification process is missing. This paper presents the analysis results obtained from the assessment of two modern smartphones regarding their positioning accuracy (i.e., precision and trueness capabilities (i.e., potential and limitations based on a practical but rigorous methodological approach. Our investigation relies on the results of several vehicle tracking (i.e., cruising and maneuvering tests realized through comparing smartphone obtained trajectories and kinematic parameters to those derived using a high-end GNSS/IMU system and advanced filtering techniques. Performance testing is undertaken for the HTC One S (Android and iPhone 5s (iOS. Our findings indicate that the deviation of the smartphone locations from ground truth (trueness deteriorates by a factor of two in obscured environments compared to those derived in open sky conditions. Moreover, it appears that iPhone 5s produces relatively smaller and less dispersed error values compared to those computed for HTC One S. Also, the navigation solution of the HTC One S appears to adapt faster to changes in environmental conditions, suggesting a somewhat different data filtering approach for the iPhone 5s. Testing the accuracy of the accelerometer and gyroscope sensors for a number of

  19. Optimized Design of the SGA-WZ Strapdown Airborne Gravimeter Temperature Control System

    Directory of Open Access Journals (Sweden)

    Juliang Cao

    2015-12-01

    Full Text Available The temperature control system is one of the most important subsystems of the strapdown airborne gravimeter. Because the quartz flexible accelerometer based on springy support technology is the core sensor in the strapdown airborne gravimeter and the magnet steel in the electromagnetic force equilibrium circuits of the quartz flexible accelerometer is greatly affected by temperature, in order to guarantee the temperature control precision and minimize the effect of temperature on the gravimeter, the SGA-WZ temperature control system adopts a three-level control method. Based on the design experience of the SGA-WZ-01, the SGA-WZ-02 temperature control system came out with a further optimized design. In 1st level temperature control, thermoelectric cooler is used to conquer temperature change caused by hot weather. The experiments show that the optimized stability of 1st level temperature control is about 0.1 °C and the max cool down capability is about 10 °C. The temperature field is analyzed in the 2nd and 3rd level temperature control using the finite element analysis software ANSYS. The 2nd and 3rd level temperature control optimization scheme is based on the foundation of heat analysis. The experimental results show that static accuracy of SGA-WZ-02 reaches 0.21 mGal/24 h, with internal accuracy being 0.743 mGal/4.8 km and external accuracy being 0.37 mGal/4.8 km compared with the result of the GT-2A, whose internal precision is superior to 1 mGal/4.8 km and all of them are better than those in SGA-WZ-01.

  20. Performance Analysis of Measurement Inaccuracies of IMU/GPS on Airborne Repeat-pass Interferometric SAR in the Presence of Squint

    Directory of Open Access Journals (Sweden)

    Deng Yuan

    2014-08-01

    Full Text Available In the MOtion COmpensation (MOCO approach to airborne repeat-pass interferometric Synthetic Aperture Radar (SAR based on motion measurement data, the measurement inaccuracies of Inertial Measurement Unit/Global Positioning System (IMU/GPS and the positioning errors of the target, which may contribute to the residual uncompensated motion errors, affect the imaging result and interferometric measurement. Considering the effects of the two types of error, this paper builds a mathematical model of residual motion errors in presence of squint, and analyzes the effects on the residual motion errors induced by the measurement inaccuracies of IMU/GPS and the positioning errors of the target. In particular, the effects of various measurement inaccuracies of IMU/GPS on interferometric SAR image quality, interferometric phase, and digital elevation model precision are disscussed. Moreover, the paper quantitatively researches the effects of residual motion errors on airborne repeat-pass interferometric SAR through theoretical and simulated analyses and provides theoretical bases for system design and signal processing.

  1. Practical method for estimating road curvatures using onboard GPS and IMU equipment

    Science.gov (United States)

    Zamfir, S.; Drosescu, R.; Gaiginschi, R.

    2016-08-01

    This paper describes an experimental method to determine with high accuracy the curvature of a road segment, the turning radius of a car, and the discomfort level perceived by the passengers in the vehicle cabin when passing through a curve. For these experiments we used professional equipment provided with two GPS active antennas with 13 dB gain featuring non-contact 100 Hz speed and distance measurement, and a ten degree Inertial Measurement Unit (IMU) with dynamic orientation outputs. The same experimental measurements also usedthe low cost GPS equipment available on smartphones, domestic vehicle GPS devices, as well as an Arduino GPS shield in order to compare the results generated by professional equipment. The purpose of these experiments was also to establish if certain road curve sections were correctly executed in order to ensure the safety and comfort of passengers. Another use of the proposed method relates to the road accident reconstruction field, providing experts and forensics with an accurate method of measuring the roadway curvature at accident scenes or traffic events. The research and equipment described in this paper have been acquired and developed under a PhD studyand a European funded project won and elaborated by the authors.

  2. An IMU-to-Body Alignment Method Applied to Human Gait Analysis

    Directory of Open Access Journals (Sweden)

    Laura Susana Vargas-Valencia

    2016-12-01

    Full Text Available This paper presents a novel calibration procedure as a simple, yet powerful, method to place and align inertial sensors with body segments. The calibration can be easily replicated without the need of any additional tools. The proposed method is validated in three different applications: a computer mathematical simulation; a simplified joint composed of two semi-spheres interconnected by a universal goniometer; and a real gait test with five able-bodied subjects. Simulation results demonstrate that, after the calibration method is applied, the joint angles are correctly measured independently of previous sensor placement on the joint, thus validating the proposed procedure. In the cases of a simplified joint and a real gait test with human volunteers, the method also performs correctly, although secondary plane errors appear when compared with the simulation results. We believe that such errors are caused by limitations of the current inertial measurement unit (IMU technology and fusion algorithms. In conclusion, the presented calibration procedure is an interesting option to solve the alignment problem when using IMUs for gait analysis.

  3. A Novel Vehicle Stationary Detection Utilizing Map Matching and IMU Sensors

    Directory of Open Access Journals (Sweden)

    Md. Syedul Amin

    2014-01-01

    Full Text Available Precise navigation is a vital need for many modern vehicular applications. The global positioning system (GPS cannot provide continuous navigation information in urban areas. The widely used inertial navigation system (INS can provide full vehicle state at high rates. However, the accuracy diverges quickly in low cost microelectromechanical systems (MEMS based INS due to bias, drift, noise, and other errors. These errors can be corrected in a stationary state. But detecting stationary state is a challenging task. A novel stationary state detection technique from the variation of acceleration, heading, and pitch and roll of an attitude heading reference system (AHRS built from the inertial measurement unit (IMU sensors is proposed. Besides, the map matching (MM algorithm detects the intersections where the vehicle is likely to stop. Combining these two results, the stationary state is detected with a smaller timing window of 3 s. A longer timing window of 5 s is used when the stationary state is detected only from the AHRS. The experimental results show that the stationary state is correctly identified and the position error is reduced to 90% and outperforms previously reported work. The proposed algorithm would help to reduce INS errors and enhance the performance of the navigation system.

  4. An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning.

    Science.gov (United States)

    Deng, Zhongliang; Fu, Xiao; Wang, Hanhua

    2018-01-20

    Research on indoor positioning technologies has recently become a hotspot because of the huge social and economic potential of indoor location-based services (ILBS). Wireless positioning signals have a considerable attenuation in received signal strength (RSS) when transmitting through human bodies, which would cause significant ranging and positioning errors in RSS-based systems. This paper mainly focuses on the body-shadowing impairment of RSS-based ranging and positioning, and derives a mathematical expression of the relation between the body-shadowing effect and the positioning error. In addition, an inertial measurement unit-aided (IMU-aided) body-shadowing detection strategy is designed, and an error compensation model is established to mitigate the effect of body-shadowing. A Bluetooth positioning algorithm with body-shadowing error compensation (BP-BEC) is then proposed to improve both the positioning accuracy and the robustness in indoor body-shadowing environments. Experiments are conducted in two indoor test beds, and the performance of both the BP-BEC algorithm and the algorithms without body-shadowing error compensation (named no-BEC) is evaluated. The results show that the BP-BEC outperforms the no-BEC by about 60.1% and 73.6% in terms of positioning accuracy and robustness, respectively. Moreover, the execution time of the BP-BEC algorithm is also evaluated, and results show that the convergence speed of the proposed algorithm has an insignificant effect on real-time localization.

  5. An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning

    Directory of Open Access Journals (Sweden)

    Zhongliang Deng

    2018-01-01

    Full Text Available Research on indoor positioning technologies has recently become a hotspot because of the huge social and economic potential of indoor location-based services (ILBS. Wireless positioning signals have a considerable attenuation in received signal strength (RSS when transmitting through human bodies, which would cause significant ranging and positioning errors in RSS-based systems. This paper mainly focuses on the body-shadowing impairment of RSS-based ranging and positioning, and derives a mathematical expression of the relation between the body-shadowing effect and the positioning error. In addition, an inertial measurement unit-aided (IMU-aided body-shadowing detection strategy is designed, and an error compensation model is established to mitigate the effect of body-shadowing. A Bluetooth positioning algorithm with body-shadowing error compensation (BP-BEC is then proposed to improve both the positioning accuracy and the robustness in indoor body-shadowing environments. Experiments are conducted in two indoor test beds, and the performance of both the BP-BEC algorithm and the algorithms without body-shadowing error compensation (named no-BEC is evaluated. The results show that the BP-BEC outperforms the no-BEC by about 60.1% and 73.6% in terms of positioning accuracy and robustness, respectively. Moreover, the execution time of the BP-BEC algorithm is also evaluated, and results show that the convergence speed of the proposed algorithm has an insignificant effect on real-time localization.

  6. Pattern recognition in cyclic and discrete skills performance from inertial measurement units

    NARCIS (Netherlands)

    Seifert, Ludovic; L'Hermette, Maxime; Komar, John; Orth, Dominic; Mell, Florian; Merriaux, Pierre; Grenet, Pierre; Caritu, Yanis; Hérault, Romain; Dovgalecs, Vladislavs; Davids, Keith

    2014-01-01

    The aim of this study is to compare and validate an Inertial Measurement Unit (IMU) relative to an optic system, and to propose methods for pattern recognition to capture behavioural dynamics during sport performance. IMU validation was conducted by comparing the motions of the two arms of a

  7. Integrated navigation method of a marine strapdown inertial navigation system using a star sensor

    International Nuclear Information System (INIS)

    Wang, Qiuying; Diao, Ming; Gao, Wei; Zhu, Minghong; Xiao, Shu

    2015-01-01

    This paper presents an integrated navigation method of the strapdown inertial navigation system (SINS) using a star sensor. According to the principle of SINS, its own navigation information contains an error that increases with time. Hence, the inertial attitude matrix from the star sensor is introduced as the reference information to correct the SINS increases error. For the integrated navigation method, the vehicle’s attitude can be obtained in two ways: one is calculated from SINS; the other, which we have called star sensor attitude, is obtained as the product between the SINS position and the inertial attitude matrix from the star sensor. Therefore, the SINS position error is introduced in the star sensor attitude error. Based on the characteristics of star sensor attitude error and the mathematical derivation, the SINS navigation errors can be obtained by the coupling calculation between the SINS attitude and the star sensor attitude. Unlike several current techniques, the navigation process of this method is non-radiating and invulnerable to jamming. The effectiveness of this approach was demonstrated by simulation and experimental study. The results show that this integrated navigation method can estimate the attitude error and the position error of SINS. Therefore, the SINS navigation accuracy is improved. (paper)

  8. A Wavelet-based method for processing signal of fog in strap-down inertial systems

    Energy Technology Data Exchange (ETDEWEB)

    Han, D.; Xiong, C.; Liu, H. [Huazhong University of Science & Technology, Wuhan (China)

    2009-07-01

    Fibre optical gyroscopes (FOGs) have been applied widely in many fields in contrast, with their counterparts such as mechanical gyroscopes and ring laser gyroscopes. The precision of FOG is affected significantly by bias drift, angle random walk temperature effects and noises. Especially, uncertain disturbances resulting from road irregularities often affect accuracy of strap-down inertial system (SINS). Hence, eliminating, uncertain disturbances from outputs of it FOG plays a crucial role to improve accuracy of SINS. This paper presents a wavelet-based method for denoising signals of FOGs in SINS used for exploring and rescuing robots in coal mines. Property of road irregularities in mines is taken into account as a key factor resulting in uncertain disturbances in this research. Both frequency band and amplitude of uncertain disturbances are introduced to choose filtering thresholds. Experimental results have demonstrated that the proposed method can efficiently eliminate uncertain disturbances due to road irregularities from outputs of FOGs and improve accuracy of surrogate data. It indicates that the proposed method has a significant potential in FOG-related applications.

  9. Strapdown Airborne Gravimetry Quality Assessment Method Based on Single Survey Line Data: A Study by SGA-WZ02 Gravimeter

    Science.gov (United States)

    Wu, Meiping; Cao, Juliang; Zhang, Kaidong; Cai, Shaokun; Yu, Ruihang

    2018-01-01

    Quality assessment is an important part in the strapdown airborne gravimetry. Root mean square error (RMSE) evaluation method is a classical way to evaluate the gravimetry quality, but classical evaluation methods are preconditioned by extra flight or reference data. Thus, a method, which is able to largely conquer the premises of classical quality assessment methods and can be used in single survey line, has been developed in this paper. According to theoretical analysis, the method chooses the stability of two horizontal attitude angles, horizontal specific force and vertical specific force as the determinants of quality assessment method. The actual data, collected by SGA-WZ02 from 13 flights 21 lines in certain survey, was used to build the model and elaborate the method. To substantiate the performance of the quality assessment model, the model is applied in extra repeat line flights from two surveys. Compared with internal RMSE, standard deviation of assessment residuals are 0.23 mGal and 0.16 mGal in two surveys, which shows that the quality assessment method is reliable and stricter. The extra flights are not necessary by specially arranging the route of flights. The method, summarized from SGA-WZ02, is a feasible approach to assess gravimetry quality using single line data and is also suitable for other strapdown gravimeters. PMID:29373535

  10. Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments

    Directory of Open Access Journals (Sweden)

    Dennis Akos

    2012-03-01

    Full Text Available Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF. Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.

  11. Monocular camera/IMU/GNSS integration for ground vehicle navigation in challenging GNSS environments.

    Science.gov (United States)

    Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis

    2012-01-01

    Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.

  12. Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments

    Science.gov (United States)

    Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis

    2012-01-01

    Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations. PMID:22736999

  13. Effect of SOS-induced levels of imuABC on spontaneous and damage-induced mutagenesis in Caulobacter crescentus.

    Science.gov (United States)

    Alves, Ingrid R; Lima-Noronha, Marco A; Silva, Larissa G; Fernández-Silva, Frank S; Freitas, Aline Luiza D; Marques, Marilis V; Galhardo, Rodrigo S

    2017-11-01

    imuABC (imuAB dnaE2) genes are responsible for SOS-mutagenesis in Caulobacter crescentus and other bacterial species devoid of umuDC. In this work, we have constructed operator-constitutive mutants of the imuABC operon. We used this genetic tool to investigate the effect of SOS-induced levels of these genes upon both spontaneous and damage-induced mutagenesis. We showed that constitutive expression of imuABC does not increase spontaneous or damage-induced mutagenesis, nor increases cellular resistance to DNA-damaging agents. Nevertheless, the presence of the operator-constitutive mutation rescues mutagenesis in a recA background, indicating that imuABC are the only genes required at SOS-induced levels for translesion synthesis (TLS) in C. crescentus. Furthermore, these data also show that TLS mediated by ImuABC does not require RecA, unlike umuDC-dependent mutagenesis in E. coli. Copyright © 2017 Elsevier B.V. All rights reserved.

  14. Ka-band InSAR Imaging and Analysis Based on IMU Data

    Directory of Open Access Journals (Sweden)

    Shi Jun

    2014-02-01

    Full Text Available Compared with other bands, the millimeter wave Interferometric Synthetic Aperture Radar (InSAR has high accuracy and small size, which is a hot topic in InSAR research. On the other hand, shorter wavelength causes difficulties in 2D imaging and interferometric phase extraction. In this study, the imaging and phase performance of the streaming Back Projection (BP method combined with IMU data are analyzed and discussed on the basis of actual Ka-band InSAR data. It is found that because the wavelength of the Ka-band is short, it is more sensitive to the antenna phase-center history. To ensure the phase-preserving capacity, the IMU data must be used with accurate motion error compensation. Furthermore, during data processing, we verify the flat-earth-removing capacity of the BP algorithm that calculates and compensates the master and slave antenna phase centers individually.

  15. Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.

    Science.gov (United States)

    Zhao, Xu; Dou, Lihua; Su, Zhong; Liu, Ning

    2018-03-16

    A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot's motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot's navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

  16. Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

    Directory of Open Access Journals (Sweden)

    Xu Zhao

    2018-03-01

    Full Text Available A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS Inertial-Measurement-Unit (IMU. First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD. In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

  17. Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

    Science.gov (United States)

    Dou, Lihua; Su, Zhong; Liu, Ning

    2018-01-01

    A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots. PMID:29547515

  18. IMU-based Real-time Pose Measurement system for Anterior Pelvic Plane in Total Hip Replacement Surgeries.

    Science.gov (United States)

    Zhe Cao; Shaojie Su; Hao Tang; Yixin Zhou; Zhihua Wang; Hong Chen

    2017-07-01

    With the aging of population, the number of Total Hip Replacement Surgeries (THR) increased year by year. In THR, inaccurate position of the implanted prosthesis may lead to the failure of the operation. In order to reduce the failure rate and acquire the real-time pose of Anterior Pelvic Plane (APP), we propose a measurement system in this paper. The measurement system includes two parts: Initial Pose Measurement Instrument (IPMI) and Real-time Pose Measurement Instrument (RPMI). IPMI is used to acquire the initial pose of the APP, and RPMI is used to estimate the real-time pose of the APP. Both are composed of an Inertial Measurement Unit (IMU) and magnetometer sensors. To estimate the attitude of the measurement system, the Extended Kalman Filter (EKF) is adopted in this paper. The real-time pose of the APP could be acquired together with the algorithm designed in the paper. The experiment results show that the Root Mean Square Error (RMSE) is within 1.6 degrees, which meets the requirement of THR operations.

  19. Tracking 3D Moving Objects Based on GPS/IMU Navigation Solution, Laser Scanner Point Cloud and GIS Data

    Directory of Open Access Journals (Sweden)

    Siavash Hosseinyalamdary

    2015-07-01

    Full Text Available Monitoring vehicular road traffic is a key component of any autonomous driving platform. Detecting moving objects, and tracking them, is crucial to navigating around objects and predicting their locations and trajectories. Laser sensors provide an excellent observation of the area around vehicles, but the point cloud of objects may be noisy, occluded, and prone to different errors. Consequently, object tracking is an open problem, especially for low-quality point clouds. This paper describes a pipeline to integrate various sensor data and prior information, such as a Geospatial Information System (GIS map, to segment and track moving objects in a scene. We show that even a low-quality GIS map, such as OpenStreetMap (OSM, can improve the tracking accuracy, as well as decrease processing time. A bank of Kalman filters is used to track moving objects in a scene. In addition, we apply non-holonomic constraint to provide a better orientation estimation of moving objects. The results show that moving objects can be correctly detected, and accurately tracked, over time, based on modest quality Light Detection And Ranging (LiDAR data, a coarse GIS map, and a fairly accurate Global Positioning System (GPS and Inertial Measurement Unit (IMU navigation solution.

  20. Underground mine navigation using an integrated IMU/TOF system with unscented Kalman filter

    CSIR Research Space (South Africa)

    Hlophe, K

    2011-07-01

    Full Text Available & Factories of the Future Conference, 26-28 July 2011, Kuala Lumpur, Malaysia improve mine safety?, in 25th International Conference of CAD/CAM, Robotics & Factories of the Future, Pretoria, 2010. [2] J. J. Green and D. Vogt, Robot miner for low... Page 1 of 11 26th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 26-28 July 2011, Kuala Lumpur, Malaysia UNDERGROUND MINE NAVIGATION USING AN INTERGRATED IMU/TOF SYSTEM WITH UNSCENTED KALMAN FILTER...

  1. Skew redundant MEMS IMU calibration using a Kalman filter

    International Nuclear Information System (INIS)

    Jafari, M; Sahebjameyan, M; Moshiri, B; Najafabadi, T A

    2015-01-01

    In this paper, a novel calibration procedure for skew redundant inertial measurement units (SRIMUs) based on micro-electro mechanical systems (MEMS) is proposed. A general model of the SRIMU measurements is derived which contains the effects of bias, scale factor error and misalignments. For more accuracy, the effect of lever arms of the accelerometers to the center of the table are modeled and compensated in the calibration procedure. Two separate Kalman filters (KFs) are proposed to perform the estimation of error parameters for gyroscopes and accelerometers. The predictive error minimization (PEM) stochastic modeling method is used to simultaneously model the effect of bias instability and random walk noise on the calibration Kalman filters to diminish the biased estimations. The proposed procedure is simulated numerically and has expected experimental results. The calibration maneuvers are applied using a two-axis angle turntable in a way that the persistency of excitation (PE) condition for parameter estimation is met. For this purpose, a trapezoidal calibration profile is utilized to excite different deterministic error parameters of the accelerometers and a pulse profile is used for the gyroscopes. Furthermore, to evaluate the performance of the proposed KF calibration method, a conventional least squares (LS) calibration procedure is derived for the SRIMUs and the simulation and experimental results compare the functionality of the two proposed methods with each other. (paper)

  2. A Damping Grid Strapdown Inertial Navigation System Based on a Kalman Filter for Ships in Polar Regions.

    Science.gov (United States)

    Huang, Weiquan; Fang, Tao; Luo, Li; Zhao, Lin; Che, Fengzhu

    2017-07-03

    The grid strapdown inertial navigation system (SINS) used in polar navigation also includes three kinds of periodic oscillation errors as common SINS are based on a geographic coordinate system. Aiming ships which have the external information to conduct a system reset regularly, suppressing the Schuler periodic oscillation is an effective way to enhance navigation accuracy. The Kalman filter based on the grid SINS error model which applies to the ship is established in this paper. The errors of grid-level attitude angles can be accurately estimated when the external velocity contains constant error, and then correcting the errors of the grid-level attitude angles through feedback correction can effectively dampen the Schuler periodic oscillation. The simulation results show that with the aid of external reference velocity, the proposed external level damping algorithm based on the Kalman filter can suppress the Schuler periodic oscillation effectively. Compared with the traditional external level damping algorithm based on the damping network, the algorithm proposed in this paper can reduce the overshoot errors when the state of grid SINS is switched from the non-damping state to the damping state, and this effectively improves the navigation accuracy of the system.

  3. DNA Polymerases ImuC and DinB Are Involved in DNA Alkylation Damage Tolerance in Pseudomonas aeruginosa and Pseudomonas putida.

    Science.gov (United States)

    Jatsenko, Tatjana; Sidorenko, Julia; Saumaa, Signe; Kivisaar, Maia

    2017-01-01

    Translesion DNA synthesis (TLS), facilitated by low-fidelity polymerases, is an important DNA damage tolerance mechanism. Here, we investigated the role and biological function of TLS polymerase ImuC (former DnaE2), generally present in bacteria lacking DNA polymerase V, and TLS polymerase DinB in response to DNA alkylation damage in Pseudomonas aeruginosa and P. putida. We found that TLS DNA polymerases ImuC and DinB ensured a protective role against N- and O-methylation induced by N-methyl-N'-nitro-N-nitrosoguanidine (MNNG) in both P. aeruginosa and P. putida. DinB also appeared to be important for the survival of P. aeruginosa and rapidly growing P. putida cells in the presence of methyl methanesulfonate (MMS). The role of ImuC in protection against MMS-induced damage was uncovered under DinB-deficient conditions. Apart from this, both ImuC and DinB were critical for the survival of bacteria with impaired base excision repair (BER) functions upon alkylation damage, lacking DNA glycosylases AlkA and/or Tag. Here, the increased sensitivity of imuCdinB double deficient strains in comparison to single mutants suggested that the specificity of alkylated DNA lesion bypass of DinB and ImuC might also be different. Moreover, our results demonstrated that mutagenesis induced by MMS in pseudomonads was largely ImuC-dependent. Unexpectedly, we discovered that the growth temperature of bacteria affected the efficiency of DinB and ImuC in ensuring cell survival upon alkylation damage. Taken together, the results of our study disclosed the involvement of ImuC in DNA alkylation damage tolerance, especially at low temperatures, and its possible contribution to the adaptation of pseudomonads upon DNA alkylation damage via increased mutagenesis.

  4. IMU Calibration and Validation in a Factory, Remote on Land and at Sea

    DEFF Research Database (Denmark)

    Jørgensen, Martin Juhl; Paccagnan, Dario; Poulsen, Niels Kjølstad

    2014-01-01

    relevance for gyro-compassing grade optical gyroscopes and force-rebalanced pendulous accelerometers: Scale factor, bias and sensor axes misalignments. Focus is on low-dynamic marine applications e.g., subsea construction and survey. Two different methods of calibration are investigated: Kalman smoothing...... using an Aided Inertial Navigation System (AINS) framework, augmenting the error state Kalman filter (ESKF) to include the full set of IMU calibration parameters and a least squares approach, where the calibration parameters are determined by minimizing the magnitude of the INS error differential...... equation output. A method of evaluating calibrations is introduced and discussed. The two calibration methods are evaluated for factory use and results compared to a legacy proprietary method as well as in-field calibration/verification on land and at sea. The calibration methods shows similar navigation...

  5. Comparative performance analysis of M-IMU/EMG and voice user interfaces for assistive robots.

    Science.gov (United States)

    Laureiti, Clemente; Cordella, Francesca; di Luzio, Francesco Scotto; Saccucci, Stefano; Davalli, Angelo; Sacchetti, Rinaldo; Zollo, Loredana

    2017-07-01

    People with a high level of disability experience great difficulties to perform activities of daily living and resort to their residual motor functions in order to operate assistive devices. The commercially available interfaces used to control assistive manipulators are typically based on joysticks and can be used only by subjects with upper-limb residual mobilities. Many other solutions can be found in the literature, based on the use of multiple sensory systems for detecting the human motion intention and state. Some of them require a high cognitive workload for the user. Some others are more intuitive and easy to use but have not been widely investigated in terms of usability and user acceptance. The objective of this work is to propose an intuitive and robust user interface for assistive robots, not obtrusive for the user and easily adaptable for subjects with different levels of disability. The proposed user interface is based on the combination of M-IMU and EMG for the continuous control of an arm-hand robotic system by means of M-IMUs. The system has been experimentally validated and compared to a standard voice interface. Sixteen healthy subjects volunteered to participate in the study: 8 subjects used the combined M-IMU/EMG robot control, and 8 subjects used the voice control. The arm-hand robotic system made of the KUKA LWR 4+ and the IH2 Azzurra hand was controlled to accomplish the daily living task of drinking. Performance indices and evaluation scales were adopted to assess performance of the two interfaces.

  6. Validation of an inertial measurement unit for the measurement of jump count and height.

    Science.gov (United States)

    MacDonald, Kerry; Bahr, Roald; Baltich, Jennifer; Whittaker, Jackie L; Meeuwisse, Willem H

    2017-05-01

    To validate the use of an inertial measurement unit (IMU) for the collection of total jump count and assess the validity of an IMU for the measurement of jump height against 3-D motion analysis. Cross sectional validation study. 3D motion-capture laboratory and field based settings. Thirteen elite adolescent volleyball players. Participants performed structured drills, played a 4 set volleyball match and performed twelve counter movement jumps. Jump counts from structured drills and match play were validated against visual count from recorded video. Jump height during the counter movement jumps was validated against concurrent 3-D motion-capture data. The IMU device captured more total jumps (1032) than visual inspection (977) during match play. During structured practice, device jump count sensitivity was strong (96.8%) while specificity was perfect (100%). The IMU underestimated jump height compared to 3D motion-capture with mean differences for maximal and submaximal jumps of 2.5 cm (95%CI: 1.3 to 3.8) and 4.1 cm (3.1-5.1), respectively. The IMU offers a valid measuring tool for jump count. Although the IMU underestimates maximal and submaximal jump height, our findings demonstrate its practical utility for field-based measurement of jump load. Copyright © 2016 Elsevier Ltd. All rights reserved.

  7. Android Platform for Realtime Gait Tracking Using Inertial Measurement Units.

    Science.gov (United States)

    Aqueveque, Pablo; Sobarzo, Sergio; Saavedra, Francisco; Maldonado, Claudio; Gómez, Britam

    2016-06-13

    One of the most important movements performed by the humans is gait. Biomechanical Gait analysis is usually by optical capture systems. However, such systems are expensive and sensitive to light and obstacles. In order to reduce those costs a system based on Inertial Measurements Units (IMU) is proposed. IMU are a good option to make movement analisys indoor with a low post-processing data, allowing to connect those systems to an Android platform. The design is based on two elements: a) The IMU sensors and the b) Android device. The IMU sensor is simple, small (35 x 35 mm), portable and autonomous (7.8 hrs). A resolution of 0.01° in their measurements is obtained, and sends data via Bluetooth link. The Android application works for Android 4.2 or higher, and it is compatible with Bluetooth devices 2.0 or higher. Three IMU sensors send data to a Tablet wirelessly, in order to evaluate the angles evolution for each joint of the leg (hip, knee and ankle). This information is used to calculate gait index and evaluate the gait quality online during the physical therapist is working with the patient.

  8. An Accurate GPS-IMU/DR Data Fusion Method for Driverless Car Based on a Set of Predictive Models and Grid Constraints.

    Science.gov (United States)

    Wang, Shiyao; Deng, Zhidong; Yin, Gang

    2016-02-24

    A high-performance differential global positioning system (GPS)  receiver with real time kinematics provides absolute localization for driverless cars. However, it is not only susceptible to multipath effect but also unable to effectively fulfill precise error correction in a wide range of driving areas. This paper proposes an accurate GPS-inertial measurement unit (IMU)/dead reckoning (DR) data fusion method based on a set of predictive models and occupancy grid constraints. First, we employ a set of autoregressive and moving average (ARMA) equations that have different structural parameters to build maximum likelihood models of raw navigation. Second, both grid constraints and spatial consensus checks on all predictive results and current measurements are required to have removal of outliers. Navigation data that satisfy stationary stochastic process are further fused to achieve accurate localization results. Third, the standard deviation of multimodal data fusion can be pre-specified by grid size. Finally, we perform a lot of field tests on a diversity of real urban scenarios. The experimental results demonstrate that the method can significantly smooth small jumps in bias and considerably reduce accumulated position errors due to DR. With low computational complexity, the position accuracy of our method surpasses existing state-of-the-arts on the same dataset and the new data fusion method is practically applied in our driverless car.

  9. An Accurate GPS-IMU/DR Data Fusion Method for Driverless Car Based on a Set of Predictive Models and Grid Constraints

    Directory of Open Access Journals (Sweden)

    Shiyao Wang

    2016-02-01

    Full Text Available A high-performance differential global positioning system (GPS  receiver with real time kinematics provides absolute localization for driverless cars. However, it is not only susceptible to multipath effect but also unable to effectively fulfill precise error correction in a wide range of driving areas. This paper proposes an accurate GPS–inertial measurement unit (IMU/dead reckoning (DR data fusion method based on a set of predictive models and occupancy grid constraints. First, we employ a set of autoregressive and moving average (ARMA equations that have different structural parameters to build maximum likelihood models of raw navigation. Second, both grid constraints and spatial consensus checks on all predictive results and current measurements are required to have removal of outliers. Navigation data that satisfy stationary stochastic process are further fused to achieve accurate localization results. Third, the standard deviation of multimodal data fusion can be pre-specified by grid size. Finally, we perform a lot of field tests on a diversity of real urban scenarios. The experimental results demonstrate that the method can significantly smooth small jumps in bias and considerably reduce accumulated position errors due to DR. With low computational complexity, the position accuracy of our method surpasses existing state-of-the-arts on the same dataset and the new data fusion method is practically applied in our driverless car.

  10. Thermal assessment of sunlight impinging on OSIRIS-REx OCAMS PolyCam, OTES, and IMU-sunshade MLI blankets in flight

    Science.gov (United States)

    Choi, Michael K.

    2017-09-01

    The NASA Origins, Spectral Interpretation, Resource Identification, Security, Regolith Explorer (OSIRIS-REx) spacecraft was successfully launched into orbit on September 8, 2016. It is traveling to a near-Earth asteroid (101955) Bennu, study it in detail, and bring back a pristine sample to Earth for scientific analyses. At the Outbound Cruise nominal spacecraft attitude, with Sun on +X, sunlight impinges on the OSIRIS-REx camera suite (OCAMS) PolyCam sunshade multilayer insulation (MLI) with microporous black polytetrafluoroethylene (PTFE), a portion of the PolyCam optics support tube (MLI with germanium black Kapton (GBK)), a portion of the OSIRIS-REx Thermal Emission Spectrometer (OTES) sunshade (MLI with GBK), the Inertia Measurement Unit (IMU) sunshade (MLI with GBK), and the OSIRIS-REx Laser Altimeter (OLA) sunshade (MLI with GBK). Sunlight is reflected or scattered by the above MLIs to the other components on the forward (+Z) deck. It illuminates the forward deck. A detailed thermal assessment on the solar impingement has been performed for the Proximity Ops at the asteroid, Touch-and-Go sample acquisition, and Return Cruise mission phases.

  11. Front-Crawl Instantaneous Velocity Estimation Using a Wearable Inertial Measurement Unit

    Directory of Open Access Journals (Sweden)

    Kamiar Aminian

    2012-09-01

    Full Text Available Monitoring the performance is a crucial task for elite sports during both training and competition. Velocity is the key parameter of performance in swimming, but swimming performance evaluation remains immature due to the complexities of measurements in water. The purpose of this study is to use a single inertial measurement unit (IMU to estimate front crawl velocity. Thirty swimmers, equipped with an IMU on the sacrum, each performed four different velocity trials of 25 m in ascending order. A tethered speedometer was used as the velocity measurement reference. Deployment of biomechanical constraints of front crawl locomotion and change detection framework on acceleration signal paved the way for a drift-free integration of forward acceleration using IMU to estimate the swimmers velocity. A difference of 0.6 ± 5.4 cm·s−1 on mean cycle velocity and an RMS difference of 11.3 cm·s−1 in instantaneous velocity estimation were observed between IMU and the reference. The most important contribution of the study is a new practical tool for objective evaluation of swimming performance. A single body-worn IMU provides timely feedback for coaches and sport scientists without any complicated setup or restraining the swimmer’s natural technique.

  12. IMU-Based Gait Recognition Using Convolutional Neural Networks and Multi-Sensor Fusion

    Directory of Open Access Journals (Sweden)

    Omid Dehzangi

    2017-11-01

    identification task. Based on our experimental results, 91% subject identification accuracy was achieved using the best individual IMU and 2DTF-DCNN. We then investigated our proposed early and late sensor fusion approaches, which improved the gait identification accuracy of the system to 93.36% and 97.06%, respectively.

  13. RECALMIN II. Eight years of hospitalisation in Internal Medicine Units (2007-2014). What has changed?

    Science.gov (United States)

    Zapatero-Gaviria, A; Barba-Martín, R; Canora Lebrato, J; Fernández-Pérez, C; Gómez-Huelgas, R; Bernal-Sobrino, J L; Díez-Manglano, J; Marco-Martínez, J; Elola-Somoza, F J

    2017-11-01

    To analyse the evolution of care provided by the internal medicine units (IMU) of the Spanish National Health System from 2007 to 2014. We analysed all discharges from the IMU of the Spanish National Health System in 2007 and 2014, using the Minimum Basic Data Set. We compared the risk factors by episode, mortality and readmissions between the two periods. We prepared specific fits for the risk for mortality and readmissions in heart failure, pneumonia and chronic obstructive pulmonary disease, as well as the Charlson index for all activity. Discharges from the IMU between the two periods increased 14%. The average patient age increased by 2.8 years (71.2±17.1 vs. 74±16.2; pde Medicina Interna (SEMI). All rights reserved.

  14. Airborne Gravimetry Survey for the Marine Area of the United Arab Emirates

    DEFF Research Database (Denmark)

    Forsberg, René; Olesen, Arne Vestergaard; Alshamsi, Adel

    2012-01-01

    The Military Survey Department (MSD) of the United Arab Emirates (UAE) undertook an airborne gravity survey project for the marine area of the country in 2009, especially to strengthen the marine and coastal geoid in the near-shore regions. For the airborne gravity survey, 5 km spacing coast...... flight speed of 170 knots and a typical flight elevation of 900-1500 m, depending on weather conditions and topography. Gravity was measured with a ZLS-modified LaCoste and Romberg gravimeter (S-99), augmented with a Honeywell strap-down inertial navigation system unit. The estimated accuracy...

  15. Application of inertial measuring unit in air navigation for ALS and DAP

    African Journals Online (AJOL)

    This article describes the inertial measuring device IMU, as well as its use in airborne laser scanning and digital aerial photography. This device is used during the operation of a scanning unit and an aerial photo camera. The structure of an additional connection for a digital video camera is proposed, which will record video ...

  16. IMU and Multiple RGB-D Camera Fusion for Assisting Indoor Stop-and-Go 3D Terrestrial Laser Scanning

    Directory of Open Access Journals (Sweden)

    Jacky C.K. Chow

    2014-07-01

    Full Text Available Autonomous Simultaneous Localization and Mapping (SLAM is an important topic in many engineering fields. Since stop-and-go systems are typically slow and full-kinematic systems may lack accuracy and integrity, this paper presents a novel hybrid “continuous stop-and-go” mobile mapping system called Scannect. A 3D terrestrial LiDAR system is integrated with a MEMS IMU and two Microsoft Kinect sensors to map indoor urban environments. The Kinects’ depth maps were processed using a new point-to-plane ICP that minimizes the reprojection error of the infrared camera and projector pair in an implicit iterative extended Kalman filter (IEKF. A new formulation of the 5-point visual odometry method is tightly coupled in the implicit IEKF without increasing the dimensions of the state space. The Scannect can map and navigate in areas with textureless walls and provides an effective means for mapping large areas with lots of occlusions. Mapping long corridors (total travel distance of 120 m took approximately 30 minutes and achieved a Mean Radial Spherical Error of 17 cm before smoothing or global optimization.

  17. The Development of an IMU Integrated Clothes for Postural Monitoring Using Conductive Yarn and Interconnecting Technology.

    Science.gov (United States)

    Kang, Sung-Won; Choi, Hyeob; Park, Hyung-Il; Choi, Byoung-Gun; Im, Hyobin; Shin, Dongjun; Jung, Young-Giu; Lee, Jun-Young; Park, Hong-Won; Park, Sukyung; Roh, Jung-Sim

    2017-11-07

    Spinal disease is a common yet important condition that occurs because of inappropriate posture. Prevention could be achieved by continuous posture monitoring, but most measurement systems cannot be used in daily life due to factors such as burdensome wires and large sensing modules. To improve upon these weaknesses, we developed comfortable "smart wear" for posture measurement using conductive yarn for circuit patterning and a flexible printed circuit board (FPCB) for interconnections. The conductive yarn was made by twisting polyester yarn and metal filaments, and the resistance per unit length was about 0.05 Ω/cm. An embroidered circuit was made using the conductive yarn, which showed increased yield strength and uniform electrical resistance per unit length. Circuit networks of sensors and FPCBs for interconnection were integrated into clothes using a computer numerical control (CNC) embroidery process. The system was calibrated and verified by comparing the values measured by the smart wear with those measured by a motion capture camera system. Six subjects performed fixed movements and free computer work, and, with this system, we were able to measure the anterior/posterior direction tilt angle with an error of less than 4°. The smart wear does not have excessive wires, and its structure will be optimized for better posture estimation in a later study.

  18. The Development of an IMU Integrated Clothes for Postural Monitoring Using Conductive Yarn and Interconnecting Technology

    Directory of Open Access Journals (Sweden)

    Sung-Won Kang

    2017-11-01

    Full Text Available Spinal disease is a common yet important condition that occurs because of inappropriate posture. Prevention could be achieved by continuous posture monitoring, but most measurement systems cannot be used in daily life due to factors such as burdensome wires and large sensing modules. To improve upon these weaknesses, we developed comfortable “smart wear” for posture measurement using conductive yarn for circuit patterning and a flexible printed circuit board (FPCB for interconnections. The conductive yarn was made by twisting polyester yarn and metal filaments, and the resistance per unit length was about 0.05 Ω/cm. An embroidered circuit was made using the conductive yarn, which showed increased yield strength and uniform electrical resistance per unit length. Circuit networks of sensors and FPCBs for interconnection were integrated into clothes using a computer numerical control (CNC embroidery process. The system was calibrated and verified by comparing the values measured by the smart wear with those measured by a motion capture camera system. Six subjects performed fixed movements and free computer work, and, with this system, we were able to measure the anterior/posterior direction tilt angle with an error of less than 4°. The smart wear does not have excessive wires, and its structure will be optimized for better posture estimation in a later study.

  19. Concept of AHRS Algorithm Designed for Platform Independent Imu Attitude Alignment

    Science.gov (United States)

    Tomaszewski, Dariusz; Rapiński, Jacek; Pelc-Mieczkowska, Renata

    2017-12-01

    Nowadays, along with the advancement of technology one can notice the rapid development of various types of navigation systems. So far the most popular satellite navigation, is now supported by positioning results calculated with use of other measurement system. The method and manner of integration will depend directly on the destination of system being developed. To increase the frequency of readings and improve the operation of outdoor navigation systems, one will support satellite navigation systems (GPS, GLONASS ect.) with inertial navigation. Such method of navigation consists of several steps. The first stage is the determination of initial orientation of inertial measurement unit, called INS alignment. During this process, on the basis of acceleration and the angular velocity readings, values of Euler angles (pitch, roll, yaw) are calculated allowing for unambiguous orientation of the sensor coordinate system relative to external coordinate system. The following study presents the concept of AHRS (Attitude and heading reference system) algorithm, allowing to define the Euler angles.The study were conducted with the use of readings from low-cost MEMS cell phone sensors. Subsequently the results of the study were analyzed to determine the accuracy of featured algorithm. On the basis of performed experiments the legitimacy of developed algorithm was stated.

  20. Strap-Down Inertial Systems

    Science.gov (United States)

    1978-05-01

    variant, and position fixes can be obtained from line-of-sight. otr-horizon, or correlator type (Terrain contour, radiometfic) systgm. ABIA R.D.V...I W eond, the sensor frort" part of the si~tltfitc esrvmant. ABIA author. 77/00100 77A407,0 THE DYNAMICALLY TUNED GYROSkWE A SENSOR FOR LOW COST

  1. Use of LiDAR to Assist in Delineating Waters of the United States, Including Wetlands

    Science.gov (United States)

    2014-03-01

    components: a mounting platform, a laser and scanning mirror, an inertial measurement unit (IMU), a global positioning system (GPS) antenna and...including but not limited to TIFF, ASC , IMG, and KML files or compressed as a KMZ file. These files are quickly imported and viewed using GIS such as...sediment transport processes and hydraulics. Sedimentology 56:2024–2043. Hogg, A., and J. Holland. 2008. An evaluation of DEMs derived from LiDAR

  2. Validity of Hip-worn Inertial Measurement Unit Compared to Jump Mat for Jump Height Measurement in Adolescents.

    Science.gov (United States)

    Rantalainen, T; Hesketh, K D; Rodda, C; Duckham, R L

    2018-06-16

    Jump tests assess lower body power production capacity, and can be used to evaluate athletic ability and development during growth. Wearable inertial measurement units (IMU) seem to offer a feasible alternative to laboratory-based equipment for jump height assessments. Concurrent validity of these devices for jump height assessments has only been established in adults. Therefore, the purpose of this study was to evaluate the concurrent validity of IMU-based jump height estimate compared to contact mat-based jump height estimate in adolescents. Ninety-five adolescents (10-13 years-of-age; girls N=41, height = 154 (SD 9) cm, weight = 44 (11) kg; boys N=54, height=156 (10) cm, weight = 46 (13) kg) completed three counter-movement jumps for maximal jump height on a contact mat. Inertial recordings (accelerations, rotations) were concurrently recorded with a hip-worn IMU (sampling at 256 Hz). Jump height was evaluated based on flight time. The mean IMU-derived jump height was 27.1 (SD 3.8) cm, and the corresponding mean jump-mat-derived value was 21.5 (3.4) cm. While a significant 26% mean difference was observed between the methods (5.5 [95% limits of agreement 2.2 to 8.9] cm, p = 0.006), the correspondence between methods was excellent (ICC = 0.89). The difference between methods was weakly positively associated with jump height (r = 0.28, P = 0.007). Take-off velocity derived jump height was also explored but produced only fair congruence. In conclusion, IMU-derived jump height exhibited excellent congruence to contact mat-based jump height and therefore presents a feasible alternative for jump height assessments in adolescents. This article is protected by copyright. All rights reserved. This article is protected by copyright. All rights reserved.

  3. Attitude and gyro bias estimation by the rotation of an inertial measurement unit

    International Nuclear Information System (INIS)

    Wu, Zheming; Sun, Zhenguo; Zhang, Wenzeng; Chen, Qiang

    2015-01-01

    In navigation applications, the presence of an unknown bias in the measurement of rate gyros is a key performance-limiting factor. In order to estimate the gyro bias and improve the accuracy of attitude measurement, we proposed a new method which uses the rotation of an inertial measurement unit, which is independent from rigid body motion. By actively changing the orientation of the inertial measurement unit (IMU), the proposed method generates sufficient relations between the gyro bias and tilt angle (roll and pitch) error via ridge body dynamics, and the gyro bias, including the bias that causes the heading error, can be estimated and compensated. The rotation inertial measurement unit method makes the gravity vector measured from the IMU continuously change in a body-fixed frame. By theoretically analyzing the mathematic model, the convergence of the attitude and gyro bias to the true values is proven. The proposed method provides a good attitude estimation using only measurements from an IMU, when other sensors such as magnetometers and GPS are unreliable. The performance of the proposed method is illustrated under realistic robotic motions and the results demonstrate an improvement in the accuracy of the attitude estimation. (paper)

  4. 75 FR 59745 - In the Matter of: Certain Components for Installation of Marine Autopilots With GPS or IMU...

    Science.gov (United States)

    2010-09-28

    ..., Southampton Road. Portsmouth Hampshire, PO6 4QB, United Kingdom. Raymarine Inc., 21 Manchester Street... violations of section 337 based upon the importation into the United States, the sale for importation, and the sale within the United States after importation of certain installation of marine autopilots with...

  5. Sampling and Control Circuit Board for an Inertial Measurement Unit

    Science.gov (United States)

    Chelmins, David T (Inventor); Powis, Richard T., Jr. (Inventor); Sands, Obed (Inventor)

    2016-01-01

    A circuit board that serves as a control and sampling interface to an inertial measurement unit ("IMU") is provided. The circuit board is also configured to interface with a local oscillator and an external trigger pulse. The circuit board is further configured to receive the external trigger pulse from an external source that time aligns the local oscillator and initiates sampling of the inertial measurement device for data at precise time intervals based on pulses from the local oscillator. The sampled data may be synchronized by the circuit board with other sensors of a navigation system via the trigger pulse.

  6. Cervical Coupling Motion Characteristics in Healthy People Using a Wireless Inertial Measurement Unit

    Directory of Open Access Journals (Sweden)

    Hyunho Kim

    2013-01-01

    Full Text Available Objective. The objectives were to show the feasibility of a wireless microelectromechanical system inertial measurement unit (MEMS-IMU to assess the time-domain characteristics of cervical motion that are clinically useful to evaluate cervical spine movement. Methods. Cervical spine movements were measured in 18 subjects with wireless IMUs. All rotation data are presented in the Euler angle system. Amount of coupling motions was evaluated by calculating the average angle ratio and the maximum angle ratio of the coupling motion to the primary motion. Reliability is presented with intraclass correlation coefficients (ICC. Results. Entire time-domain characteristics of cervical motion were measured with developed MEMS-IMU system. Cervical range of motion (CROM and coupling motion range were measured with high ICCs. The acquired data and calculated parameters had similar tendency with the previous studies. Conclusions. We evaluated cervical motion with economic system using a wireless IMU of high reliability. We could directly measure the three-dimensional cervical motion in degrees in realtime. The characteristics measured by this system may provide a diagnostic basis for structural or functional dysfunction of cervical spine. This system is also useful to demonstrate the effectiveness of any intervention such as conventional medical treatment, and Korean medical treatment, exercise therapy.

  7. APPLYING 3D AFFINE TRANSFORMATION AND LEAST SQUARES MATCHING FOR AIRBORNE LASER SCANNING STRIPS ADJUSTMENT WITHOUT GNSS/IMU TRAJECTORY DATA

    Directory of Open Access Journals (Sweden)

    C. Ressl

    2012-09-01

    Full Text Available In this article we extend our previous work on the topic of ALS strip adjustment without GNSS/IMU trajectory data. Between overlap- ping strip pairs the relative orientation as a 3D affine transformation is estimated by a 3D LSM approach, which uses interpolated 2.5D grid surface models of the strips and the entire strip overlap as one big LSM window. The LSM derived relative orientations of all strip pairs in the block together with their covariance matrices are then used simultaneously as observations in an adjustment following the Gauss-Helmert model. This way the exterior orientation of each strip is computed, which refers to a relative block system. If proper ground control data is given, then an absolute orientation of the block of strips can be computed by a final LSM run. In a small example consisting of 4 strips with ca. 70% overlap the improvement in the relative geometric accuracy is demonstrated by the decreasing óMAD of the height differences from 8.4cm (before to 1.6cm (after the strip adjustment.

  8. A Stationary North-Finding Scheme for an Azimuth Rotational IMU Utilizing a Linear State Equality Constraint

    Directory of Open Access Journals (Sweden)

    Huapeng Yu

    2015-02-01

    Full Text Available The Kalman filter (KF has always been used to improve north-finding performance under practical conditions. By analyzing the characteristics of the azimuth rotational inertial measurement unit (ARIMU on a stationary base, a linear state equality constraint for the conventional KF used in the fine north-finding filtering phase is derived. Then, a constrained KF using the state equality constraint is proposed and studied in depth. Estimation behaviors of the concerned navigation errors when implementing the conventional KF scheme and the constrained KF scheme during stationary north-finding are investigated analytically by the stochastic observability approach, which can provide explicit formulations of the navigation errors with influencing variables. Finally, multiple practical experimental tests at a fixed position are done on a postulate system to compare the stationary north-finding performance of the two filtering schemes. In conclusion, this study has successfully extended the utilization of the stochastic observability approach for analytic descriptions of estimation behaviors of the concerned navigation errors, and the constrained KF scheme has demonstrated its superiority over the conventional KF scheme for ARIMU stationary north-finding both theoretically and practically.

  9. Validation of a High Sampling Rate Inertial Measurement Unit for Acceleration During Running.

    Science.gov (United States)

    Provot, Thomas; Chiementin, Xavier; Oudin, Emeric; Bolaers, Fabrice; Murer, Sébastien

    2017-08-25

    The musculo-skeletal response of athletes to various activities during training exercises has become a critical issue in order to optimize their performance and minimize injuries. However, dynamic and kinematic measures of an athlete's activity are generally limited by constraints in data collection and technology. Thus, the choice of reliable and accurate sensors is crucial for gathering data in indoor and outdoor conditions. The aim of this study is to validate the use of the accelerometer of a high sampling rate ( 1344 Hz ) Inertial Measurement Unit (IMU) in the frame of running activities. To this end, two validation protocols are imposed: a classical one on a shaker, followed by another one during running, the IMU being attached to a test subject. For each protocol, the response of the IMU Accelerometer (IMUA) is compared to a calibrated industrial accelerometer, considered as the gold standard for dynamic and kinematic data collection. The repeatability, impact of signal frequency and amplitude (on shaker) as well as the influence of speed (while running) are investigated. Results reveal that the IMUA exhibits good repeatability. Coefficient of Variation CV is 1 % 8.58 ± 0.06 m / s 2 on the shaker and 3 % 26.65 ± 0.69 m / s 2 while running. However, the shaker test shows that the IMUA is affected by the signal frequency (error exceeds 10 % beyond 80 Hz ), an observation confirmed by the running test. Nevertheless, the IMUA provides a reliable measure in the range 0-100 Hz, i.e., the most relevant part in the energy spectrum over the range 0-150 Hz during running. In our view, these findings emphasize the validity of IMUs for the measurement of acceleration during running.

  10. Quantifying Stability Using Frequency Domain Data from Wireless Inertial Measurement Units

    Directory of Open Access Journals (Sweden)

    Stephen Slaughter

    2013-06-01

    Full Text Available The quantification of gait stability can provide valuable information when evaluating subjects for age related and neuromuscular disease changes. Using tri-axial inertial measurement units (IMU for acceleration and rotational data provide a non-linear profile for this type of movement. As subjects traverse various surfaces representing decreasing stability, the different phasing of gait data make comparisons difficult. By converting from time to frequency domain data, the phase effects can be ignored, allowing for significant correlations. In this study, 12 subjects provided gait information over various surfaces while wearing an IMU. Instabilities were determined by comparing frequency domain data over less stable surfaces to frequency domain data of neural network (NN models representing the normal gait for any given participant. Time dependent data from 2 axes of acceleration and 2 axes of rotation were converted using a discrete Fourier transform (FFT algorithm. The data over less stable surfaces were compared to the normal gait NN model by averaging the Pearson product moment correlation (r values. This provided a method to quantify the decreased stability. Data showed progressively decreasing correlation coefficient values as subjects encountered progressively less stable surface environments. This methodology has allowed for the quantification of instability in gait situations for application in real-time fall prevention situations.

  11. Quantifying Stability Using Frequency Domain Data from Wireless Inertial Measurement Units

    Directory of Open Access Journals (Sweden)

    Stephen Slaughter

    2012-08-01

    Full Text Available The quantification of gait stability can provide valuable information when evaluating subjects for age related and neuromuscular disease changes. Using tri-axial inertial measurement units (IMU for acceleration and rotational data provide a non-linear profile for this type of movement. As subjects traverse various surfaces representing decreasing stability, the different phasing of gait data make comparisons difficult. By converting from time to frequency domain data, the phase effects can be ignored, allowing for significant correlations. In this study, 12 subjects provided gait information over various surfaces while wearing an IMU. Instabilities were determined by comparing frequency domain data over less stable surfaces to frequency domain data of neural network (NN models representing the normal gait for any given participant. Time dependent data from 2 axes of acceleration and 2 axes of rotation were converted using a discrete Fourier transform (FFT algorithm. The data over less stable surfaces were compared to the normal gait NN model by averaging the Pearson product moment correlation (r values. This provided a method to quantify the decreased stability. Data showed progressively decreasing correlation coefficient values as subjects encountered progressively less stable surface environments. This methodology has allowed for the quantification of instability in gait situations for application in real-time fall prevention situations.

  12. Validity and repeatability of inertial measurement units for measuring gait parameters.

    Science.gov (United States)

    Washabaugh, Edward P; Kalyanaraman, Tarun; Adamczyk, Peter G; Claflin, Edward S; Krishnan, Chandramouli

    2017-06-01

    Inertial measurement units (IMUs) are small wearable sensors that have tremendous potential to be applied to clinical gait analysis. They allow objective evaluation of gait and movement disorders outside the clinic and research laboratory, and permit evaluation on large numbers of steps. However, repeatability and validity data of these systems are sparse for gait metrics. The purpose of this study was to determine the validity and between-day repeatability of spatiotemporal metrics (gait speed, stance percent, swing percent, gait cycle time, stride length, cadence, and step duration) as measured with the APDM Opal IMUs and Mobility Lab system. We collected data on 39 healthy subjects. Subjects were tested over two days while walking on a standard treadmill, split-belt treadmill, or overground, with IMUs placed in two locations: both feet and both ankles. The spatiotemporal measurements taken with the IMU system were validated against data from an instrumented treadmill, or using standard clinical procedures. Repeatability and minimally detectable change (MDC) of the system was calculated between days. IMUs displayed high to moderate validity when measuring most of the gait metrics tested. Additionally, these measurements appear to be repeatable when used on the treadmill and overground. The foot configuration of the IMUs appeared to better measure gait parameters; however, both the foot and ankle configurations demonstrated good repeatability. In conclusion, the IMU system in this study appears to be both accurate and repeatable for measuring spatiotemporal gait parameters in healthy young adults. Copyright © 2017 Elsevier B.V. All rights reserved.

  13. A Wearable Inertial Measurement Unit for Long-Term Monitoring in the Dependency Care Area

    Directory of Open Access Journals (Sweden)

    Andreu Català

    2013-10-01

    Full Text Available Human movement analysis is a field of wide interest since it enables the assessment of a large variety of variables related to quality of life. Human movement can be accurately evaluated through Inertial Measurement Units (IMU, which are wearable and comfortable devices with long battery life. The IMU’s movement signals might be, on the one hand, stored in a digital support, in which an analysis is performed a posteriori. On the other hand, the signal analysis might take place in the same IMU at the same time as the signal acquisition through online classifiers. The new sensor system presented in this paper is designed for both collecting movement signals and analyzing them in real-time. This system is a flexible platform useful for collecting data via a triaxial accelerometer, a gyroscope and a magnetometer, with the possibility to incorporate other information sources in real-time. A µSD card can store all inertial data and a Bluetooth module is able to send information to other external devices and receive data from other sources. The system presented is being used in the real-time detection and analysis of Parkinson’s disease symptoms, in gait analysis, and in a fall detection system.

  14. A Highly Miniaturized, Wireless Inertial Measurement Unit for Characterizing the Dynamics of Pitched Baseballs and Softballs

    Directory of Open Access Journals (Sweden)

    Noel C. Perkins

    2012-08-01

    Full Text Available Baseball and softball pitch types are distinguished by the path and speed of the ball which, in turn, are determined by the angular velocity of the ball and the velocity of the ball center at the instant of release from the pitcher’s hand. While radar guns and video-based motion capture (mocap resolve ball speed, they provide little information about how the angular velocity of the ball and the velocity of the ball center develop and change during the throwing motion. Moreover, mocap requires measurements in a controlled lab environment and by a skilled technician. This study addresses these shortcomings by introducing a highly miniaturized, wireless inertial measurement unit (IMU that is embedded in both baseballs and softballs. The resulting “ball-embedded” sensor resolves ball dynamics right on the field of play. Experimental results from ten pitches, five thrown by one softball pitcher and five by one baseball pitcher, demonstrate that this sensor technology can deduce the magnitude and direction of the ball’s velocity at release to within 4.6% of measurements made using standard mocap. Moreover, the IMU directly measures the angular velocity of the ball, which further enables the analysis of different pitch types.

  15. A Highly Miniaturized, Wireless Inertial Measurement Unit for Characterizing the Dynamics of Pitched Baseballs and Softballs

    Science.gov (United States)

    McGinnis, Ryan S.; Perkins, Noel C.

    2012-01-01

    Baseball and softball pitch types are distinguished by the path and speed of the ball which, in turn, are determined by the angular velocity of the ball and the velocity of the ball center at the instant of release from the pitcher's hand. While radar guns and video-based motion capture (mocap) resolve ball speed, they provide little information about how the angular velocity of the ball and the velocity of the ball center develop and change during the throwing motion. Moreover, mocap requires measurements in a controlled lab environment and by a skilled technician. This study addresses these shortcomings by introducing a highly miniaturized, wireless inertial measurement unit (IMU) that is embedded in both baseballs and softballs. The resulting “ball-embedded” sensor resolves ball dynamics right on the field of play. Experimental results from ten pitches, five thrown by one softball pitcher and five by one baseball pitcher, demonstrate that this sensor technology can deduce the magnitude and direction of the ball's velocity at release to within 4.6% of measurements made using standard mocap. Moreover, the IMU directly measures the angular velocity of the ball, which further enables the analysis of different pitch types.

  16. Analysis of ergonomic and unergonomic human lifting behaviors by using Inertial Measurement Units

    Directory of Open Access Journals (Sweden)

    Kuschan Jan

    2017-03-01

    Full Text Available This paper presents an analysis of two distinct human lifting movements regarding acceleration and angular velocity. For the first movement, the ergonomic one, the test persons produced the lifting power by squatting down, bending at the hips and knees only. Whereas performing the unergonomic one they bent forward lifting the box mainly with their backs. The measurements were taken by using a vest equipped with five Inertial Measurement Units (IMU with 9 Dimensions of Freedom (DOF each. In the following the IMU data captured for these two movements will be evaluated using statistics and visualized. It will also be discussed with respect to their suitability as features for further machine learning classifications. The reason for observing these movements is that occupational diseases of the musculoskeletal system lead to a reduction of the workers’ quality of life and extra costs for companies. Therefore, a vest, called CareJack, was designed to give the worker a real-time feedback about his ergonomic state while working. The CareJack is an approach to reduce the risk of spinal and back diseases. This paper will also present the idea behind it as well as its main components.

  17. Painting recognition with smartphones equipped with inertial measurement unit

    Science.gov (United States)

    Masiero, Andrea; Guarnieri, Alberto; Pirotti, Francesco; Vettore, Antonio

    2015-06-01

    Recently, several works have been proposed in the literature to take advantage of the diffusion of smartphones to improve people experience during museum visits. The rationale is that of substituting traditional written/audio guides with interactive electronic guides usable on a mobile phone. Augmented reality systems are usually considered to make the use of such electronic guides more effective for the user. The main goal of such augmented reality system (i.e. providing the user with the information of his/her interest) is usually achieved by properly executing the following three tasks: recognizing the object of interest to the user, retrieving the most relevant information about it, properly presenting the retrieved information. This paper focuses on the first task: we consider the problem of painting recognition by means of measure- ments provided by a smartphone. We assume that the user acquires one image of the painting of interest with the standard camera of the device. This image is compared with a set of reference images of the museum objects in order to recognize the object of interest to the user. Since comparing images taken in different conditions can lead to unsatisfactory recognition results, the acquired image is typically properly transformed in order to improve the results of the recognition system: first, the system estimates the homography between properly matched features in the two images. Then, the user image is transformed accordingly to the estimated homography. Finally, it is compared with the reference one. This work proposes a novel method to exploit inertial measurement unit (IMU) measurements to improve the system performance, in particular in terms of computational load reduction: IMU measurements are exploited to reduce both the computational burden required to estimate the transformation to be applied to the user image, and the number of reference images to be compared with it.

  18. Classification of deadlift biomechanics with wearable inertial measurement units.

    Science.gov (United States)

    O'Reilly, Martin A; Whelan, Darragh F; Ward, Tomas E; Delahunt, Eamonn; Caulfield, Brian M

    2017-06-14

    The deadlift is a compound full-body exercise that is fundamental in resistance training, rehabilitation programs and powerlifting competitions. Accurate quantification of deadlift biomechanics is important to reduce the risk of injury and ensure training and rehabilitation goals are achieved. This study sought to develop and evaluate deadlift exercise technique classification systems utilising Inertial Measurement Units (IMUs), recording at 51.2Hz, worn on the lumbar spine, both thighs and both shanks. It also sought to compare classification quality when these IMUs are worn in combination and in isolation. Two datasets of IMU deadlift data were collected. Eighty participants first completed deadlifts with acceptable technique and 5 distinct, deliberately induced deviations from acceptable form. Fifty-five members of this group also completed a fatiguing protocol (3-Repition Maximum test) to enable the collection of natural deadlift deviations. For both datasets, universal and personalised random-forests classifiers were developed and evaluated. Personalised classifiers outperformed universal classifiers in accuracy, sensitivity and specificity in the binary classification of acceptable or aberrant technique and in the multi-label classification of specific deadlift deviations. Whilst recent research has favoured universal classifiers due to the reduced overhead in setting them up for new system users, this work demonstrates that such techniques may not be appropriate for classifying deadlift technique due to the poor accuracy achieved. However, personalised classifiers perform very well in assessing deadlift technique, even when using data derived from a single lumbar-worn IMU to detect specific naturally occurring technique mistakes. Copyright © 2017 Elsevier Ltd. All rights reserved.

  19. Player Monitoring in Indoor Team Sports: Concurrent Validity of Inertial Measurement Units to Quantify Average and Peak Acceleration Values

    Directory of Open Access Journals (Sweden)

    Mareike Roell

    2018-02-01

    Full Text Available The increasing interest in assessing physical demands in team sports has led to the development of multiple sports related monitoring systems. Due to technical limitations, these systems primarily could be applied to outdoor sports, whereas an equivalent indoor locomotion analysis is not established yet. Technological development of inertial measurement units (IMU broadens the possibilities for player monitoring and enables the quantification of locomotor movements in indoor environments. The aim of the current study was to validate an IMU measuring by determining average and peak human acceleration under indoor conditions in team sport specific movements. Data of a single wearable tracking device including an IMU (Optimeye S5, Catapult Sports, Melbourne, Australia were compared to the results of a 3D motion analysis (MA system (Vicon Motion Systems, Oxford, UK during selected standardized movement simulations in an indoor laboratory (n = 56. A low-pass filtering method for gravity correction (LF and two sensor fusion algorithms for orientation estimation [Complementary Filter (CF, Kalman-Filter (KF] were implemented and compared with MA system data. Significant differences (p < 0.05 were found between LF and MA data but not between sensor fusion algorithms and MA. Higher precision and lower relative errors were found for CF (RMSE = 0.05; CV = 2.6% and KF (RMSE = 0.15; CV = 3.8% both compared to the LF method (RMSE = 1.14; CV = 47.6% regarding the magnitude of the resulting vector and strongly emphasize the implementation of orientation estimation to accurately describe human acceleration. Comparing both sensor fusion algorithms, CF revealed slightly lower errors than KF and additionally provided valuable information about positive and negative acceleration values in all three movement planes with moderate to good validity (CV = 3.9 – 17.8%. Compared to x- and y-axis superior results were found for the z-axis. These findings demonstrate that

  20. Development of a 3D workspace shoulder assessment tool incorporating electromyography and an inertial measurement unit-a preliminary study.

    Science.gov (United States)

    Aslani, Navid; Noroozi, Siamak; Davenport, Philip; Hartley, Richard; Dupac, Mihai; Sewell, Philip

    2018-06-01

    Traditional shoulder range of movement (ROM) measurement tools suffer from inaccuracy or from long experimental setup times. Recently, it has been demonstrated that relatively low-cost wearable inertial measurement unit (IMU) sensors can overcome many of the limitations of traditional motion tracking systems. The aim of this study is to develop and evaluate a single IMU combined with an electromyography (EMG) sensor to monitor the 3D reachable workspace with simultaneous measurement of deltoid muscle activity across the shoulder ROM. Six volunteer subjects with healthy shoulders and one participant with a 'frozen' shoulder were recruited to the study. Arm movement in 3D space was plotted in spherical coordinates while the relative EMG intensity of any arm position is presented graphically. The results showed that there was an average ROM surface area of 27291 ± 538 deg 2 among all six healthy individuals and a ROM surface area of 13571 ± 308 deg 2 for the subject with frozen shoulder. All three sections of the deltoid show greater EMG activity at higher elevation angles. Using such tools enables individuals, surgeons and physiotherapists to measure the maximum envelope of motion in conjunction with muscle activity in order to provide an objective assessment of shoulder performance in the voluntary 3D workspace. Graphical abstract The aim of this study is to develop and evaluate a single IMU combined with an electromyography (EMG) sensor to monitor the 3D reachable workspace with simultaneous measurement of deltoid muscle activity across the shoulder ROM. The assessment tool consists of an IMU sensor, an EMG sensor, a microcontroller and a Bluetooth module. The assessment tool was attached to subjects arm. Individuals were instructed to move their arms with the elbow fully extended. They were then asked to provide the maximal voluntary elevation envelope of the arm in 3D space in multiple attempts starting from a small movement envelope going to the biggest

  1. [RECALMIN. Patient care in the internal medicine units of the Spanish national health system].

    Science.gov (United States)

    Zapatero Gaviria, A; Barba Martín, R; Román Sánchez, P; Casariego Vales, E; Diez Manglano, J; García Cors, M; Jusdado Ruiz-Capillas, J J; Suárez Fernández, C; Bernal, J L; Elola Somoza, F J

    2016-05-01

    To perform a situation analysis of the care provided by internal medicine units (IMUs) in Spain and to develop, based on this analysis, proposals for improving the quality of care in these units. A descriptive, cross-sectional study of the IMUs of general acute care hospitals of the Spanish National Health System (SNHS), with data referring to 2013. The study variables were collected via an ad hoc questionnaire. Of the total 260hospitals identified in the SNHS, 142responses were obtained from 139hospitals throughout Spain, which represents 53.5% of the IMUs in the SNHS. The mean number of internists per IMU was 14±8, with a mean rate of 7.2±3.3 internists per 100,000 inhabitants. In 2013, the average number of hospital discharges from the IMU was 2,987±2,066, and those discharged by internists was 232±107. Sixty-one percent of the IMUs had implemented an interconsultation unit, and 41% had implemented a systematic care program for complex chronic patients. Thirty-three percent of the IMUs conducted multidisciplinary rounds, and 60% of these IMUs planned the discharge. The 2013 RECALMIN survey revealed a number of important aspects of the organisation, structure and management of IMUs. The remarkable variability in the indicators of structure, activity and management probably reflect significant differences in efficiency and productivity, which therefore provide significant room for improvement. Copyright © 2016 Elsevier España, S.L.U. y Sociedad Española de Medicina Interna (SEMI). All rights reserved.

  2. RECALMIN: The association between management of Spanish National Health Service Internal Medical Units and health outcomes.

    Science.gov (United States)

    Zapatero-Gaviria, Antonio; Javier Elola-Somoza, Francisco; Casariego-Vales, Emilio; Fernandez-Perez, Cristina; Gomez-Huelgas, Ricardo; Bernal, José Luis; Barba-Martín, Raquel

    2017-08-01

    To investigate the association between management of Internal Medical Units (IMUs) with outcomes (mortality and length of stay) within the Spanish National Health Service. Data on management were obtained from a descriptive transversal study performed among IMUs of the acute hospitals. Outcome indicators were taken from an administrative database of all hospital discharges from the IMUs. Spanish National Health Service. One hundred and twenty-four acute general hospitals with available data of management and outcomes (401 424 discharges). IMU risk standardized mortality rates were calculated using a multilevel model adjusted by Charlson Index. Risk standardized myocardial infarction and heart failure mortality rates were calculated using specific multilevel models. Length of stay was adjusted by complexity. Greater hospital complexity was associated with longer average length of stays (r: 0.42; P International Society for Quality in Health Care. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com

  3. A novel redundant INS based on triple rotary inertial measurement units

    Science.gov (United States)

    Chen, Gang; Li, Kui; Wang, Wei; Li, Peng

    2016-10-01

    Accuracy and reliability are two key performances of inertial navigation system (INS). Rotation modulation (RM) can attenuate the bias of inertial sensors and make it possible for INS to achieve higher navigation accuracy with lower-class sensors. Therefore, the conflict between the accuracy and cost of INS can be eased. Traditional system redundancy and recently researched sensor redundancy are two primary means to improve the reliability of INS. However, how to make the best use of the redundant information from redundant sensors hasn’t been studied adequately, especially in rotational INS. This paper proposed a novel triple rotary unit strapdown inertial navigation system (TRUSINS), which combines RM and sensor redundancy design to enhance the accuracy and reliability of rotational INS. Each rotary unit independently rotates to modulate the errors of two gyros and two accelerometers. Three units can provide double sets of measurements along all three axes of body frame to constitute a couple of INSs which make TRUSINS redundant. Experiments and simulations based on a prototype which is made up of six fiber-optic gyros with drift stability of 0.05° h-1 show that TRUSINS can achieve positioning accuracy of about 0.256 n mile h-1, which is ten times better than that of a normal non-rotational INS with the same level inertial sensors. The theoretical analysis and the experimental results show that due to the advantage of the innovative structure, the designed fault detection and isolation (FDI) strategy can tolerate six sensor faults at most, and is proved to be effective and practical. Therefore, TRUSINS is particularly suitable and highly beneficial for the applications where high accuracy and high reliability is required.

  4. A novel redundant INS based on triple rotary inertial measurement units

    International Nuclear Information System (INIS)

    Chen, Gang; Li, Kui; Wang, Wei; Li, Peng

    2016-01-01

    Accuracy and reliability are two key performances of inertial navigation system (INS). Rotation modulation (RM) can attenuate the bias of inertial sensors and make it possible for INS to achieve higher navigation accuracy with lower-class sensors. Therefore, the conflict between the accuracy and cost of INS can be eased. Traditional system redundancy and recently researched sensor redundancy are two primary means to improve the reliability of INS. However, how to make the best use of the redundant information from redundant sensors hasn’t been studied adequately, especially in rotational INS. This paper proposed a novel triple rotary unit strapdown inertial navigation system (TRUSINS), which combines RM and sensor redundancy design to enhance the accuracy and reliability of rotational INS. Each rotary unit independently rotates to modulate the errors of two gyros and two accelerometers. Three units can provide double sets of measurements along all three axes of body frame to constitute a couple of INSs which make TRUSINS redundant. Experiments and simulations based on a prototype which is made up of six fiber-optic gyros with drift stability of 0.05° h −1 show that TRUSINS can achieve positioning accuracy of about 0.256 n mile h −1 , which is ten times better than that of a normal non-rotational INS with the same level inertial sensors. The theoretical analysis and the experimental results show that due to the advantage of the innovative structure, the designed fault detection and isolation (FDI) strategy can tolerate six sensor faults at most, and is proved to be effective and practical. Therefore, TRUSINS is particularly suitable and highly beneficial for the applications where high accuracy and high reliability is required. (paper)

  5. Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion.

    Science.gov (United States)

    Hellmers, Hendrik; Kasmi, Zakaria; Norrdine, Abdelmoumen; Eichhorn, Andreas

    2018-01-04

    In recent years, a variety of real-time applications benefit from services provided by localization systems due to the advent of sensing and communication technologies. Since the Global Navigation Satellite System (GNSS) enables localization only outside buildings, applications for indoor positioning and navigation use alternative technologies. Ultra Wide Band Signals (UWB), Wireless Local Area Network (WLAN), ultrasonic or infrared are common examples. However, these technologies suffer from fading and multipath effects caused by objects and materials in the building. In contrast, magnetic fields are able to pass through obstacles without significant propagation errors, i.e. in Non-Line of Sight Scenarios (NLoS). The aim of this work is to propose a novel indoor positioning system based on artificially generated magnetic fields in combination with Inertial Measurement Units (IMUs). In order to reach a better coverage, multiple coils are used as reference points. A basic algorithm for three-dimensional applications is demonstrated as well as evaluated in this article. The established system is then realized by a sensor fusion principle as well as a kinematic motion model on the basis of a Kalman filter. Furthermore, a pressure sensor is used in combination with an adaptive filtering method to reliably estimate the platform's altitude.

  6. A pedestrian dead-reckoning system that considers the heel-strike and toe-off phases when using a foot-mounted IMU

    Science.gov (United States)

    Ju, Hojin; Lee, Min Su; Park, So Young; Song, Jin Woo; Park, Chan Gook

    2016-01-01

    In this paper, we propose an advanced pedestrian dead-reckoning (PDR) algorithm that considers the heel-strike and toe-off phases. Generally, PDR systems that use a foot-mounted inertial measurement unit are based on an inertial navigation system with an extended Kalman filter (EKF). To reduce the influence of the bias and white noises in the gyroscope and accelerometer signals, a zero-velocity update is often adopted at the stance phase. However, transient and large acceleration, which cannot be measured by the accelerometer used in pedestrian navigation, occur momentarily in the heel-strike phase. The velocity information from integration of the acceleration is not reliable because the acceleration is not measured in the heel-strike phase. Therefore, the designed EKF does not correctly reflect the actual environment, because conventional algorithms do not take the non-measurable acceleration into consideration. In order to reflect the actual environment, we propose a PDR system that considers the non-measurable acceleration from the heel-strike impact. To improve the PDR system’s performance, the proposed algorithm uses a new velocity measurement obtained using the constraint between the surface and the foot during the toe-off phase. The experimental results show improved filter performance after comparison of the proposed algorithm and a conventional algorithm.

  7. A pedestrian dead-reckoning system that considers the heel-strike and toe-off phases when using a foot-mounted IMU

    International Nuclear Information System (INIS)

    Ju, Hojin; Lee, Min Su; Park, So Young; Park, Chan Gook; Song, Jin Woo

    2016-01-01

    In this paper, we propose an advanced pedestrian dead-reckoning (PDR) algorithm that considers the heel-strike and toe-off phases. Generally, PDR systems that use a foot-mounted inertial measurement unit are based on an inertial navigation system with an extended Kalman filter (EKF). To reduce the influence of the bias and white noises in the gyroscope and accelerometer signals, a zero-velocity update is often adopted at the stance phase. However, transient and large acceleration, which cannot be measured by the accelerometer used in pedestrian navigation, occur momentarily in the heel-strike phase. The velocity information from integration of the acceleration is not reliable because the acceleration is not measured in the heel-strike phase. Therefore, the designed EKF does not correctly reflect the actual environment, because conventional algorithms do not take the non-measurable acceleration into consideration. In order to reflect the actual environment, we propose a PDR system that considers the non-measurable acceleration from the heel-strike impact. To improve the PDR system’s performance, the proposed algorithm uses a new velocity measurement obtained using the constraint between the surface and the foot during the toe-off phase. The experimental results show improved filter performance after comparison of the proposed algorithm and a conventional algorithm. (paper)

  8. System and method for three-dimensional image reconstruction using an absolute orientation sensor

    KAUST Repository

    Giancola, Silvio; Ghanem, Bernard; Schneider, Jens; Wonka, Peter

    2018-01-01

    A three-dimensional image reconstruction system includes an image capture device, an inertial measurement unit (IMU), and an image processor. The image capture device captures image data. The inertial measurement unit (IMU) is affixed to the image

  9. Inertial measurements units for assessment of the pattern of forward bending among blue-collar workers from the DPhacto cohort

    DEFF Research Database (Denmark)

    Villumsen, Morten; Madeleine, Pascal; Jørgensen, Marie Birk

    Background. New developments in electronics have enabled the use of Inertial Measurement Units (IMUs) to record physical activity in a minimally obstructive manner over several days. Individual, physical and psychosocial risk factors are known to play a role in the development of work...... of forward bending was found during leisure compared to work (pgender (pphysical and psychosocial risk factors leading to low...... of the trunk were extracted from all-day IMU recordings, both at work and during leisure time. Exposure variation analysis was applied on forward bending during both work and leisure time.Low-back pain intensity was measured on a 0–10 scale and divided into low and high pain. Individual factors (age, gender...

  10. Interface unit

    NARCIS (Netherlands)

    Keyson, D.V.; Freudenthal, A.; De Hoogh, M.P.A.; Dekoven, E.A.M.

    2001-01-01

    The invention relates to an interface unit comprising at least a display unit for communication with a user, which is designed for being coupled with a control unit for at least one or more parameters in a living or working environment, such as the temperature setting in a house, which control unit

  11. PUSHBROOM HYPERSPECTRAL IMAGING FROM AN UNMANNED AIRCRAFT SYSTEM (UAS) – GEOMETRIC PROCESSINGWORKFLOW AND ACCURACY ASSESSMENT

    KAUST Repository

    Turner, D.; Lucieer, A.; McCabe, Matthew; Parkes, Stephen; Clarke, I.

    2017-01-01

    dual frequency Global Navigation Satellite System (GNSS) receiver, an Inertial Measurement Unit (IMU), and Machine Vision Camera (MVC) were used for attitude and position determination. For the nano-Hyperspec, a navigation grade GNSS system and IMU

  12. Flight envelope protection system for unmanned aerial vehicles

    KAUST Repository

    Claudel, Christian G.; Shaqura, Mohammad

    2016-01-01

    Systems and methods to protect the flight envelope in both manual flight and flight by a commercial autopilot are provided. A system can comprise: an inertial measurement unit (IMU); a computing device in data communication with the IMU

  13. SGA-WZ: A New Strapdown Airborne Gravimeter

    Directory of Open Access Journals (Sweden)

    Kaidong Zhang

    2012-07-01

    Full Text Available Inertial navigation systems and gravimeters are now routinely used to map the regional gravitational quantities from an aircraft with mGal accuracy and a spatial resolution of a few kilometers. However, airborne gravimeter of this kind is limited by the inaccuracy of the inertial sensor performance, the integrated navigation technique and the kinematic acceleration determination. As the GPS technique developed, the vehicle acceleration determination is no longer the limiting factor in airborne gravity due to the cancellation of the common mode acceleration in differential mode. A new airborne gravimeter taking full advantage of the inertial navigation system is described with improved mechanical design, high precision time synchronization, better thermal control and optimized sensor modeling. Apart from the general usage, the Global Positioning System (GPS after differentiation is integrated to the inertial navigation system which provides not only more precise altitude information along with the navigation aiding, but also an effective way to calculate the vehicle acceleration. Design description and test results on the performance of the gyroscopes and accelerations will be emphasized. Analysis and discussion of the airborne field test results are also given.

  14. SGA-WZ: A New Strapdown Airborne Gravimeter

    DEFF Research Database (Denmark)

    Huang, Yangming; Olesen, Arne Vestergaard; Wu, Meiping

    2012-01-01

    Inertial navigation systems and gravimeters are now routinely used to map the regional gravitational quantities from an aircraft with mGal accuracy and a spatial resolution of a few kilometers. However, airborne gravimeter of this kind is limited by the inaccuracy of the inertial sensor performance......, the integrated navigation technique and the kinematic acceleration determination. As the GPS technique developed, the vehicle acceleration determination is no longer the limiting factor in airborne gravity due to the cancellation of the common mode acceleration in differential mode. A new airborne gravimeter...... and discussion of the airborne field test results are also given....

  15. Design considerations for a suboptimal Kalman filter

    Science.gov (United States)

    Difilippo, D. J.

    1995-06-01

    In designing a suboptimal Kalman filter, the designer must decide how to simplify the system error model without causing the filter estimation errors to increase to unacceptable levels. Deletion of certain error states and decoupling of error state dynamics are the two principal model simplifications that are commonly used in suboptimal filter design. For the most part, the decisions as to which error states can be deleted or decoupled are based on the designer's understanding of the physics of the particular system. Consequently, the details of a suboptimal design are usually unique to the specific application. In this paper, the process of designing a suboptimal Kalman filter is illustrated for the case of an airborne transfer-of-alignment (TOA) system used for synthetic aperture radar (SAR) motion compensation. In this application, the filter must continuously transfer the alignment of an onboard Doppler-damped master inertial navigation system (INS) to a strapdown navigator that processes information from a less accurate inertial measurement unit (IMU) mounted on the radar antenna. The IMU is used to measure spurious antenna motion during the SAR imaging interval, so that compensating phase corrections can be computed and applied to the radar returns, thereby presenting image degradation that would otherwise result from such motions. The principles of SAR are described in many references, for instance. The primary function of the TOA Kalman filter in a SAR motion compensation system is to control strapdown navigator attitude errors, and to a less degree, velocity and heading errors. Unlike a classical navigation application, absolute positional accuracy is not important. The motion compensation requirements for SAR imaging are discussed in some detail. This TOA application is particularly appropriate as a vehicle for discussing suboptimal filter design, because the system contains features that can be exploited to allow both deletion and decoupling of error

  16. Generating Units

    Data.gov (United States)

    Department of Homeland Security — Generating Units are any combination of physically connected generators, reactors, boilers, combustion turbines, and other prime movers operated together to produce...

  17. Flight Demonstration Results of an Inertial Measurement Unit and Global Positioning System Translator Telemetry System

    National Research Council Canada - National Science Library

    David, Bradford

    2001-01-01

    .... A GPS translator from the Johns Hopkins University Applied Physics Laboratory and a low-cost IMU designed by ARL from commercial off-the-shelf components were combined with a telemetry system, packaged...

  18. Unit Manning

    National Research Council Canada - National Science Library

    McGinniss, Mike

    2003-01-01

    .... This decision combines two crucial initiatives: first, transforming the Army from an individual soldier replacement system to a unit manning system that enhances cohesion and keeps trained soldiers, leaders, and commanders together longer, thereby...

  19. Detector Unit

    CERN Multimedia

    1960-01-01

    Original detector unit of the Instituut voor Kernfysisch Onderzoek (IKO) BOL project. This detector unit shows that silicon detectors for nuclear physics particle detection were already developed and in use in the 1960's in Amsterdam. Also the idea of putting 'strips' onto the silicon for high spatial resolution of a particle's impact on the detector were implemented in the BOL project which used 64 of these detector units. The IKO BOL project with its silicon particle detectors was designed, built and operated from 1965 to roughly 1977. Detector Unit of the BOL project: These detectors, notably the ‘checkerboard detector’, were developed during the years 1964-1968 in Amsterdam, The Netherlands, by the Natuurkundig Laboratorium of the N.V. Philips Gloeilampen Fabrieken. This was done in close collaboration with the Instituut voor Kernfysisch Onderzoek (IKO) where the read-out electronics for their use in the BOL Project was developed and produced.

  20. Drilling unit

    Energy Technology Data Exchange (ETDEWEB)

    Umanchik, N P; Demin, A V; Khrustalev, N N; Linnik, G N; Lovchev, S V; Rozin, M M; Sidorov, R V; Sokolov, S I; Tsaregradskiy, Yu P

    1981-01-01

    A drilling unit is proposed which includes a hydraulic lifter, hydraulic multiple-cylinder pump with valve distribution and sectional drilling pump with separators of the working and flushing fluid. In order to reduce metal consumption and the overall dimensions of the drilling unit, the working cavity of each cylinder of the hydraulic multiple-cylinder pump is equipped with suction and injection valves and is hydraulically connected to the working cavity by one of the sections of the drilling pump.

  1. An accurate calibration method for accelerometer nonlinear scale factor on a low-cost three-axis turntable

    International Nuclear Information System (INIS)

    Pan, Jianye; Zhang, Chunxi; Cai, Qingzhong

    2014-01-01

    Strapdown inertial navigation system (SINS) requirements are very demanding on gyroscopes and accelerometers as well as on calibration. To improve the accuracy of SINS, high-accuracy calibration is needed. Adding the accelerometer nonlinear scale factor into the model and reducing estimation errors is essential for improving calibration methods. In this paper, the inertial navigation error model is simplified, including only velocity and tilt errors. Based on the simplified error model, the relationship between the navigation errors (the rates of change of velocity errors) and the inertial measurement unit (IMU) calibration parameters is presented. A tracking model is designed to estimate the rates of change of velocity errors. With a special calibration procedure consisting of six rotation sequences, the accelerometer nonlinear scale factor errors can be computed by the estimates of the rates of change of velocity errors. Simulation and laboratory test results show that the accelerometer nonlinear scale factor can be calibrated with satisfactory accuracy on a low-cost three-axis turntable in several minutes. The comparison with the traditional calibration method highlights the superior performance of the proposed calibration method without precise orientation control. In addition, the proposed calibration method saves a lot of time in comparison with the multi-position calibration method. (paper)

  2. [Conservation Units.

    Science.gov (United States)

    Texas Education Agency, Austin.

    Each of the six instructional units deals with one aspect of conservation: forests, water, rangeland, minerals (petroleum), and soil. The area of the elementary school curriculum with which each correlates is indicated. Lists of general and specific objectives are followed by suggested teaching procedures, including ideas for introducing the…

  3. Automated pavement horizontal curve measurement methods based on inertial measurement unit and 3D profiling data

    Directory of Open Access Journals (Sweden)

    Wenting Luo

    2016-04-01

    Full Text Available Pavement horizontal curve is designed to serve as a transition between straight segments, and its presence may cause a series of driving-related safety issues to motorists and drivers. As is recognized that traditional methods for curve geometry investigation are time consuming, labor intensive, and inaccurate, this study attempts to develop a method that can automatically conduct horizontal curve identification and measurement at network level. The digital highway data vehicle (DHDV was utilized for data collection, in which three Euler angles, driving speed, and acceleration of survey vehicle were measured with an inertial measurement unit (IMU. The 3D profiling data used for cross slope calibration was obtained with PaveVision3D Ultra technology at 1 mm resolution. In this study, the curve identification was based on the variation of heading angle, and the curve radius was calculated with kinematic method, geometry method, and lateral acceleration method. In order to verify the accuracy of the three methods, the analysis of variance (ANOVA test was applied by using the control variable of curve radius measured by field test. Based on the measured curve radius, a curve safety analysis model was used to predict the crash rates and safe driving speeds at horizontal curves. Finally, a case study on 4.35 km road segment demonstrated that the proposed method could efficiently conduct network level analysis.

  4. Using inertial measurement units originally developed for biomechanics for modal testing of civil engineering structures

    Science.gov (United States)

    Hester, David; Brownjohn, James; Bocian, Mateusz; Xu, Yan; Quattrone, Antonino

    2018-05-01

    This paper explores the use of wireless Inertial Measurement Units (IMU) originally developed for bio-mechanical research applications for modal testing of civil engineering infrastructure. Due to their biomechanics origin, these devices combine a triaxial accelerometer with gyroscopes and magnetometers for orientation, as well as on board data logging capability and wireless communication for optional data streaming and to coordinate synchronisation with other IMUs in a network. The motivation for application to civil structures is that their capabilities and simple operating procedures make them suitable for modal testing of many types of civil infrastructure of limited dimension including footbridges and floors while also enabling recovering of dynamic forces generated and applied to structures by moving humans. To explore their capabilities in civil applications, the IMUs are evaluated through modal tests on three different structures with increasing challenge of spatial and environmental complexity. These are, a full-scale floor mock-up in a laboratory, a short span road bridge and a seven story office tower. For each case, the results from the IMUs are compared with those from a conventional wired system to identify the limitations. The main conclusion is that the relatively high noise floor and limited communication range will not be a serious limitation in the great majority of typical civil modal test applications where convenient operation is a significant advantage over conventional wired systems.

  5. Microcontroller Unit

    International Nuclear Information System (INIS)

    Tulaev, A.B.

    1994-01-01

    The general purpose micro controller unit based on 8-bit single-chip microcomputer of the MCS-51 family is described. The controller has the data and program memories, a serial interface and an external bus for functional I/O extensions. The controller consists of a microcomputer chip, up to 4 ROM-RAM chips and 10 SSI and MSI chips, and it measures 160x120 mm. Both hardware and software micro system debugging tools are described. (author). 8 refs., 1 fig., 1 tab

  6. Solar unit

    Energy Technology Data Exchange (ETDEWEB)

    Sukhanov, A M; Trushevskiy, S N; Tveryanovich, E V

    1982-01-01

    A solar unit is proposed which contains an inclined solar collector with supply and outlet pipelines, the first of which is connected to the source of a heat carrier, while the second is connected through the valve to the tank for collecting heated heat carrier equipped with a device for recovery. In order to improve the effectiveness of heating the heat carrier, it additionally contains a concentrator of solar radiation and a device for maintaining a level of the heat carrier in the collector in the zone of the focal spot of the concentrator, while the heat pipeline is connected to the source of the heat carrier with the help of a device for maintaining the level of the heat carrier.

  7. Termination unit

    Science.gov (United States)

    Traeholt, Chresten [Frederiksberg, DK; Willen, Dag [Klagshamn, SE; Roden, Mark [Newnan, GA; Tolbert, Jerry C [Carrollton, GA; Lindsay, David [Carrollton, GA; Fisher, Paul W [Heiskell, TN; Nielsen, Carsten Thidemann [Jaegerspris, DK

    2014-01-07

    This invention relates to a termination unit comprising an end-section of a cable. The end section of the cable defines a central longitudinal axis and comprising end-parts of N electrical phases, an end-part of a neutral conductor and a surrounding thermally insulation envelope adapted to comprising a cooling fluid. The end-parts of the N electrical phases and the end-part of the neutral conductor each comprising at least one electrical conductor and being arranged in the cable concentrically around a core former with a phase 1 located relatively innermost, and phase N relatively outermost in the cable, phase N being surrounded by the neutral conductor, electrical insulation being arrange between neighboring electrical phases and between phase N and the neutral conductor, and wherein the end-parts of the neutral conductor and the electrical phases each comprise a contacting surface electrically connected to at least one branch current lead to provide an electrical connection: The contacting surfaces each having a longitudinal extension, and being located sequentially along the longitudinal extension of the end-section of the cable. The branch current leads being individually insulated from said thermally insulation envelope by individual electrical insulators.

  8. Termination unit

    Energy Technology Data Exchange (ETDEWEB)

    Traeholt, Chresten; Willen, Dag; Roden, Mark; Tolbert, Jerry C.; Lindsay, David; Fisher, Paul W.; Nielsen, Carsten Thidemann

    2016-05-03

    Cable end section comprises end-parts of N electrical phases/neutral, and a thermally-insulation envelope comprising cooling fluid. The end-parts each comprises a conductor and are arranged with phase 1 innermost, N outermost surrounded by the neutral, electrical insulation being between phases and N and neutral. The end-parts comprise contacting surfaces located sequentially along the longitudinal extension of the end-section. A termination unit has an insulating envelope connected to a cryostat, special parts at both ends comprising an adapter piece at the cable interface and a closing end-piece terminating the envelope in the end-section. The special parts houses an inlet and/or outlet for cooling fluid. The space between an inner wall of the envelope and a central opening of the cable is filled with cooling fluid. The special part at the end connecting to the cryostat houses an inlet or outlet, splitting cooling flow into cable annular flow and termination annular flow.

  9. An in situ hand calibration method using a pseudo-observation scheme for low-end inertial measurement units

    International Nuclear Information System (INIS)

    Li, You; Niu, Xiaoji; Zhang, Quan; Zhang, Hongping; Shi, Chuang

    2012-01-01

    MEMS chips have become ideal candidates for various applications since they are small sized, light weight, have low power consumption and are extremely low cost and reliable. However, the performance of MEMS sensors, especially their biases and scale factors, is highly dependent on environmental conditions such as temperature. Thus a quick and convenient calibration is needed to be conducted by users in field without any external equipment or any expert knowledge of calibration. A novel and efficient in situ hand calibration method is presented to meet these demands in this paper. The algorithm of the proposed calibration method makes use of the navigation algorithm of the loosely-coupled GPS/INS integrated systems, but replaces the GPS observations with a kind of pseudo-observations, which can be stated as follows: if an inertial measurement unit (IMU) was rotating approximately around its measurement center, the range of its position and its linear velocity both would be within a limited scope. Using a Kalman filtering algorithm, the biases and scale factors of both accelerometer triad and gyroscope triad can be calibrated together within a short period (about 30 s), requiring only motions by hands. Real test results show that the proposed method is suitable for most consumer grade MEMS IMUs due to its zero cost, easy operation and sufficient accuracy. (paper)

  10. SI units in radiology

    Energy Technology Data Exchange (ETDEWEB)

    Iyer, P S [Bhabha Atomic Research Centre, Bombay (India). Div. of Radiation Protection

    1978-11-01

    The proposal of the International Commission on Radiation Units and Measurements that the special units of radiation and radioactivity-roentgen, rad, rem and curie-be replaced by the International System (SI) of Units has been accepted by international bodies. This paper reviews the resons for introducing the new units and their features. The relation between the special units and the corresponding SI units is discussed with examples. In spite of anticipated difficulties, the commission recommends a smooth and efficient changeover to the SI units in ten years.

  11. Vehicle state estimation using GPS/IMU integration

    NARCIS (Netherlands)

    Wang, Y.; Mangnus, J.; Kostić, D.; Nijmeijer, H.; Jansen, S.T.H.

    2011-01-01

    New driver support systems require knowledge of the vehicle position with great accuracy and reliability. Satellite navigation (GNSS) is generally insufficiently accurate for positioning and as an alternative to using a ground station, combinations with high quality motion sensors are used in

  12. Improved Feature Matching for Mobile Devices with IMU

    Directory of Open Access Journals (Sweden)

    Andrea Masiero

    2016-08-01

    Full Text Available Thanks to the recent diffusion of low-cost high-resolution digital cameras and to the development of mostly automated procedures for image-based 3D reconstruction, the popularity of photogrammetry for environment surveys is constantly increasing in the last years. Automatic feature matching is an important step in order to successfully complete the photogrammetric 3D reconstruction: this step is the fundamental basis for the subsequent estimation of the geometry of the scene. This paper reconsiders the feature matching problem when dealing with smart mobile devices (e.g., when using the standard camera embedded in a smartphone as imaging sensor. More specifically, this paper aims at exploiting the information on camera movements provided by the inertial navigation system (INS in order to make the feature matching step more robust and, possibly, computationally more efficient. First, a revised version of the affine scale-invariant feature transform (ASIFT is considered: this version reduces the computational complexity of the original ASIFT, while still ensuring an increase of correct feature matches with respect to the SIFT. Furthermore, a new two-step procedure for the estimation of the essential matrix E (and the camera pose is proposed in order to increase its estimation robustness and computational efficiency.

  13. Vision-IMU based collaborative control of a blind UAV

    NARCIS (Netherlands)

    Hoogervorst, R.; Stramigioli, Stefano; Wopereis, Han Willem; Fumagalli, Matteo

    2015-01-01

    Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome

  14. External Aiding Methods for IMU-Based Navigation

    Science.gov (United States)

    2016-11-26

    Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 3.2.1 Startup Bias...Figure Page 1 Three Distributions Implemented for Error Parameters in SAIMUN . . . . . . . . . . . . 5 2 Accelerometer Output Corrupted by Startup ...external aiding, simulate the error sources encountered in the acquisition of measurement data, emulate the navigation software, and perform a range of

  15. Unit Cost Compendium Calculations

    Data.gov (United States)

    U.S. Environmental Protection Agency — The Unit Cost Compendium (UCC) Calculations raw data set was designed to provide for greater accuracy and consistency in the use of unit costs across the USEPA...

  16. United States housing, 2012

    Science.gov (United States)

    Delton Alderman

    2013-01-01

    Provides current and historical information on housing market in the United States. Information includes trends for housing permits and starts, housing completions for single and multifamily units, and sales and construction. This report will be updated annually.

  17. United Cerebral Palsy

    Science.gov (United States)

    ... your local affiliate Find your local affiliate United Cerebral Palsy United Cerebral Palsy (UCP) is a trusted resource for individuals with Cerebral Palsy and other disabilities and their networks. Individuals with ...

  18. Malaria Treatment (United States)

    Science.gov (United States)

    ... Providers, Emergency Consultations, and General Public. Contact Us Malaria Treatment (United States) Recommend on Facebook Tweet Share Compartir Treatment of Malaria: Guidelines For Clinicians (United States) Download PDF version ...

  19. Indoor integrated navigation and synchronous data acquisition method for Android smartphone

    Science.gov (United States)

    Hu, Chunsheng; Wei, Wenjian; Qin, Shiqiao; Wang, Xingshu; Habib, Ayman; Wang, Ruisheng

    2015-08-01

    Smartphones are widely used at present. Most smartphones have cameras and kinds of sensors, such as gyroscope, accelerometer and magnet meter. Indoor navigation based on smartphone is very important and valuable. According to the features of the smartphone and indoor navigation, a new indoor integrated navigation method is proposed, which uses MEMS (Micro-Electro-Mechanical Systems) IMU (Inertial Measurement Unit), camera and magnet meter of smartphone. The proposed navigation method mainly involves data acquisition, camera calibration, image measurement, IMU calibration, initial alignment, strapdown integral, zero velocity update and integrated navigation. Synchronous data acquisition of the sensors (gyroscope, accelerometer and magnet meter) and the camera is the base of the indoor navigation on the smartphone. A camera data acquisition method is introduced, which uses the camera class of Android to record images and time of smartphone camera. Two kinds of sensor data acquisition methods are introduced and compared. The first method records sensor data and time with the SensorManager of Android. The second method realizes open, close, data receiving and saving functions in C language, and calls the sensor functions in Java language with JNI interface. A data acquisition software is developed with JDK (Java Development Kit), Android ADT (Android Development Tools) and NDK (Native Development Kit). The software can record camera data, sensor data and time at the same time. Data acquisition experiments have been done with the developed software and Sumsang Note 2 smartphone. The experimental results show that the first method of sensor data acquisition is convenient but lost the sensor data sometimes, the second method is much better in real-time performance and much less in data losing. A checkerboard image is recorded, and the corner points of the checkerboard are detected with the Harris method. The sensor data of gyroscope, accelerometer and magnet meter have

  20. A multiplicity logic unit

    International Nuclear Information System (INIS)

    Bialkowski, J.; Moszynski, M.; Zagorski, A.

    1981-01-01

    The logic diagram principle of operation and some details of the design of the multiplicity logic unit are presented. This unit was specially designed to fulfil the requirements of a multidetector arrangement for gamma-ray multiplicity measurements. The unit is equipped with 16 inputs controlled by a common coincidence gate. It delivers a linear output pulse with the height proportional to the multiplicity of coincidences and logic pulses corresponding to 0, 1, ... up to >= 5-fold coincidences. These last outputs are used to steer the routing unit working with the multichannel analyser. (orig.)

  1. ENERGY STAR Unit Reports

    Data.gov (United States)

    Department of Housing and Urban Development — These quarterly Federal Fiscal Year performance reports track the ENERGY STAR qualified HOME units that Participating Jurisdictions record in HUD's Integrated...

  2. System and method for three-dimensional image reconstruction using an absolute orientation sensor

    KAUST Repository

    Giancola, Silvio

    2018-01-18

    A three-dimensional image reconstruction system includes an image capture device, an inertial measurement unit (IMU), and an image processor. The image capture device captures image data. The inertial measurement unit (IMU) is affixed to the image capture device and records IMU data associated with the image data. The image processor includes one or more processing units and memory for storing instructions that are executed by the one or more processing units, wherein the image processor receives the image data and the IMU data as inputs and utilizes the IMU data to pre-align the first image and the second image, and wherein the image processor utilizes a registration algorithm to register the pre-aligned first and second images.

  3. 31 CFR 515.321 - United States; continental United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States; continental United... General Definitions § 515.321 United States; continental United States. The term United States means the United States and all areas under the jurisdiction or authority thereof, including the Trust Territory of...

  4. 31 CFR 500.321 - United States; continental United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States; continental United... General Definitions § 500.321 United States; continental United States. The term United States means the United States and all areas under the jurisdiction or authority thereof, including U.S. trust territories...

  5. 31 CFR 535.321 - United States; continental United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States; continental United... General Definitions § 535.321 United States; continental United States. The term United States means the United States and all areas under the jurisdiction or authority thereof including the Trust Territory of...

  6. Neighbors United for Health

    Science.gov (United States)

    Westhoff, Wayne W.; Corvin, Jaime; Virella, Irmarie

    2009-01-01

    Modeled upon the ecclesiastic community group concept of Latin America to unite and strengthen the bond between the Church and neighborhoods, a community-based organization created Vecinos Unidos por la Salud (Neighbors United for Health) to bring health messages into urban Latino neighborhoods. The model is based on five tenants, and incorporates…

  7. Smart Rocking Armour Units

    NARCIS (Netherlands)

    Hofland, B.; Arefin, Syed Shamsil; van der Lem, Cock; van gent, Marcel

    2018-01-01

    This paper describes a method to measure the rocking motion of lab-scale armour units. Sensors as found in mobile phones are used. These sensors, data-storage and battery are all embedded in the model units, such that they can be applied without wires attached to them. The technique is applied to

  8. METRIC context unit architecture

    Energy Technology Data Exchange (ETDEWEB)

    Simpson, R.O.

    1988-01-01

    METRIC is an architecture for a simple but powerful Reduced Instruction Set Computer (RISC). Its speed comes from the simultaneous processing of several instruction streams, with instructions from the various streams being dispatched into METRIC's execution pipeline as they become available for execution. The pipeline is thus kept full, with a mix of instructions for several contexts in execution at the same time. True parallel programming is supported within a single execution unit, the METRIC Context Unit. METRIC's architecture provides for expansion through the addition of multiple Context Units and of specialized Functional Units. The architecture thus spans a range of size and performance from a single-chip microcomputer up through large and powerful multiprocessors. This research concentrates on the specification of the METRIC Context Unit at the architectural level. Performance tradeoffs made during METRIC's design are discussed, and projections of METRIC's performance are made based on simulation studies.

  9. Magnetic distortion in motion labs, implications for validating inertial magnetic sensors

    NARCIS (Netherlands)

    de Vries, W.H.; Veeger, H.E.J.; Baten, C.T.M.; Helm, F.C.

    2009-01-01

    Background: Ambulatory 3D orientation estimation with Inertial Magnetic Sensor Units (IMU's) use the earth magnetic field. The magnitude of distortion in orientation in a standard equipped motion lab and its effect on the accuracy of the orientation estimation with IMU's is addressed. Methods:

  10. Magnetic distortion in motion labs, implications for validating inertial magnetic sensors.

    NARCIS (Netherlands)

    Vries, W.H. de; Veeger, H.E.; Baten, C.T.; Helm, F.C.T. van der

    2009-01-01

    BACKGROUND: Ambulatory 3D orientation estimation with Inertial Magnetic Sensor Units (IMU's) use the earth magnetic field. The magnitude of distortion in orientation in a standard equipped motion lab and its effect on the accuracy of the orientation estimation with IMU's is addressed. METHODS:

  11. A Comparative Study of All-Accelerometer Strapdowns for UAV INS

    National Research Council Canada - National Science Library

    Cardou, Philippe; Angeles, Jorge

    2005-01-01

    ...) for Unmanned Aerial Vehicles (UAV). Benefiting from the fabrication processes of MEMS technologies, accelerometers now offer several advantages over gyroscopes, such as low weight, compactness, high reliability and low cost, for example...

  12. Decision unit program

    International Nuclear Information System (INIS)

    Madjar, N.; Pastor, C.; Chambon, B.; Drain, D.; Giorni, A.; Dauchy, A.

    1981-01-01

    A decision unit has been built to simplify the electronic logic set-up in multi-detectors experiments. This unit, designed with fast memories used as decision making tables, replaces conventional logic modules. Nine inputs are provided for receiving the fast detector signals (charged particles, gammas, neutrons, ...). Fifteen independent outputs allow the identification of the choosen events among the 2 9 possible events. A CAMAC interface between the unit and the computer, or a manual control auxiliary module, is used to load, in the memory, the pattern of the choosen events [fr

  13. Smart Rocking Armour Units

    OpenAIRE

    Hofland, B.; Arefin, Syed Shamsil; van der Lem, Cock; van gent, Marcel

    2018-01-01

    This paper describes a method to measure the rocking motion of lab-scale armour units. Sensors as found in mobile phones are used. These sensors, data-storage and battery are all embedded in the model units, such that they can be applied without wires attached to them. The technique is applied to double-layer units in order to compare the results to the existing knowledge for this type of armour layers. In contrast to previous research, the gyroscope reading is used to determine the (rocking)...

  14. Allocating multiple units

    DEFF Research Database (Denmark)

    Tranæs, Torben; Krishna, Kala

    2002-01-01

    This paper studies the allocation and rent distribution in multi-unit, combinatorial-bid auctions under complete information. We focus on the natural multi-unit analogue of the first-price auction, where buyers bid total payments, pay their bids, and where the seller allocates goods to maximize his...... auction, which is the multi unit analogue of a second-price auction. Furthermore, we characterize these equilibria when valuations take a number of different forms: diminishing marginal valuations, increasing average valuations, and marginal valuations with single turning points...

  15. Tax Unit Boundaries

    Data.gov (United States)

    Kansas Data Access and Support Center — The Statewide GIS Tax Unit boundary file was created through a collaborative partnership between the State of Kansas Department of Revenue Property Valuation...

  16. Insects: An Interdisciplinary Unit

    Science.gov (United States)

    Leger, Heather

    2007-01-01

    The author talks about an interdisciplinary unit on insects, and presents activities that can help students practice communication skills (interpersonal, interpretive, and presentational) and learn about insects with hands-on activities.

  17. UnitedHealth Group

    Science.gov (United States)

    UnitedHealth Group provides accessible and affordable services, improved quality of care, coordinated health care efforts, and a supportive environment for shared decision making between patients and their physicians.

  18. Operable Unit Boundaries

    Data.gov (United States)

    U.S. Environmental Protection Agency — This dataset consists of operable unit data from multiple Superfund sites in U.S. EPA Region 8. These data were acquired from multiple sources at different times and...

  19. Flywheel and power unit

    Energy Technology Data Exchange (ETDEWEB)

    Seeley, R.W.

    1992-10-28

    A power unit, e.g. for an electrically driven vehicle, incorporates a flywheel for storing kinetic energy and a battery for storing electrical energy. The battery is incorporated as a substantial part of the rotating mass of the flywheel. Preferably the unit further includes an electrical machine being a motor or generator or machine operable either as a motor or a generator for transferring energy between the battery and the flywheel and/or for the input or output of rotary energy therefrom or thereto. The motor may be used for powering the flywheel and may also operate in a regenerative mode for recharging the unit on de-acceleration of the vehicle. The unit of the invention may also be utilized as an electrical stored power source, e.g. wind or water driven. (author)

  20. Does size matter? Animal units and animal unit months

    Science.gov (United States)

    Lamar Smith; Joe Hicks; Scott Lusk; Mike Hemmovich; Shane Green; Sarah McCord; Mike Pellant; John Mitchell; Judith Dyess; Jim Sprinkle; Amanda Gearhart; Sherm Karl; Mike Hannemann; Ken Spaeth; Jason Karl; Matt Reeves; Dave Pyke; Jordan Spaak; Andrew Brischke; Del Despain; Matt Phillippi; Dave Weixelmann; Alan Bass; Jessie Page; Lori Metz; David Toledo; Emily Kachergis

    2017-01-01

    The concepts of animal units, animal unit months, and animal unit equivalents have long been used as standards for range management planning, estimating stocking rates, reporting actual use, assessing grazing fees, ranch appraisal, and other purposes. Increasing size of cattle on rangelands has led some to suggest that the definition of animal units and animal unit...

  1. UniTed

    OpenAIRE

    Harma, Eero

    2010-01-01

    UniTed on Teddy boy- tyylistä inspiroitunut kevät/kesä mallisto naisille.Mallistossa yhdistyy perinteinen teddy boy- vaatetus ja klassinen feminiinisyys, sekä menneisyys ja nykyisyys. Suunnittelun lähtökohtia olivat naisellisuus, tyylikkyys ja pyrkimys luoda nykyaikaista suunnittelua menneisyydestä lainaillen. United is a teddy boy- style inspired spring/summer collection for women. The collection combines traditional Teddy boy style with classical feminity and past with the present. The b...

  2. Freestanding midwifery unit versus obstetric unit

    DEFF Research Database (Denmark)

    Overgaard, Charlotte; Møller, Anna Margrethe; Fenger-Grøn, Morten

    2011-01-01

    low-risk women intending FMU birth and a matched control group of 839 low-risk women intending OU birth were included at the start of care in labour. OU women were individually chosen to match selected obstetric/socio-economic characteristics of FMU women. Analysis was by intention to treat. Main......Objective To compare perinatal and maternal morbidity and birth interventions in low-risk women giving birth in two freestanding midwifery units (FMUs) and two obstetric units (OUs). Design A cohort study with a matched control group. Setting The region of North Jutland, Denmark. Participants 839...... women were significantly less likely to experience an abnormal fetal heart rate (RR: 0.3, 95% CI 0.2 to 0.5), fetal–pelvic complications (0.2, 0.05 to 0.6), shoulder dystocia (0.3, 0.1 to 0.9), occipital–posterior presentation (0.5, 0.3 to 0.9) and postpartum haemorrhage >500 ml (0.4, 0.3 to 0...

  3. Rapanos v. United States & Carabell v. United States

    Science.gov (United States)

    Documents associated with guidance for implementing the definition of waters of the United States under the Clean Water Act following the Rapanos v. United States, and Carabell v. United States Supreme Court decision.

  4. Gas-centrifuge unit

    International Nuclear Information System (INIS)

    Stark, T.M.

    1977-01-01

    An isotope-enrichment unit is described for separating a gaseous mixture feedstock including a compound of a light nuclear isotope at a predetermined concentration and a compound of a heavy nuclear isotope at a predetermined concentration into at least two unit-output fractions including a waste fraction depleted in the light isotope to a predetermined concentration and a product fraction enriched in the light isotope to a predetermined concentration. The unit comprises a first group of cascades of gas centrifuges, each cascade having an enriching stage, a stripping stage, an input, a light-fraction output, and a heavy-fraction output for separating the gaseous-mixture feed stock into light and heavy gaseous-mixture fractions; and an auxillary cascade

  5. Mechanical strainer unit

    International Nuclear Information System (INIS)

    Kraeling, J.B.; Netkowicz, R.J.; Schnall, I.H.

    1983-01-01

    The mechanical strainer unit is connected to a flanged conduit which originates in and extends out of a suppression chamber in a nuclear reactor. The strainer includes a plurality of centrally apertured plates positioned along a common central axis and in parallel and spaced relationship. The plates have a plurality of bores radially spaced about the central axis. Spacer means such as washers are positioned between adjacent plates to maintain the plates is spaced relationship and form communicating passages of a predetermined size to the central apertures. Connecting means such as bolts or studs extend through the aligned bores to maintain the unit in assembled relationship and secure the unit to the pipe. By employing perforated plates and blocking off certain of the communicating passages, a dual straining effect can be achieved

  6. Mobile emergency response unit

    International Nuclear Information System (INIS)

    Kadi, W.J.; Trolan, R.T.; Becker, J.F.

    1979-01-01

    The Hotspot quick-response unit was the solution to a requirement to find, identify, and control areas of radioactive contamination at the scene of a nuclear weapons accident. The unit consists of two trucks and two trailers, and is designed to be transported by one U.S. Air Force C-141. One truck (generator truck) carries a 40 kW generator-heater-air conditioner combination, spare tires, and accessories. The other (water truck) carries supplies and a 250-gal water tank. One trailer (counting trailer) contains detecting, counting, and recording equipment. The other (decontaminating trailer) contains a shower, sink, 30-gal hot water tank, and supplies

  7. Transfer of manufacturing units

    DEFF Research Database (Denmark)

    Madsen, Erik Skov; Riis, Jens Ove; Sørensen, Brian Vejrum

    2008-01-01

    The ongoing and unfolding relocation of activities is one of the major trends, that calls for attention in the domain of operations management. In particular, prescriptive models outlining: stages of the process, where to locate, and how to establish the new facilities have been studied, while...... and dilemmas to be addressed when transferring manufacturing units....

  8. United States Attorney Prosecutions

    Science.gov (United States)

    1993-10-01

    property of CocaCola Bottling Company, Fayetteville, North Carolina, of a value in excess of $100.00, in violation of Title 18 United States Code, Section...another, to-wit: a Cocacola soft drink machine, the amount of damage to said personal property being more than $200.00, in violation of North Carolina

  9. Planter unit test stand

    Science.gov (United States)

    A planter test stand was developed to evaluate individual row-crop metering units in early 2013. This test stand provided the ability to quantify actual seed metering in terms of population, seed spacing, skips, and multiples over a range of meter RPMs and vacuum pressures. Preliminary data has been...

  10. United Kingdom's experience

    International Nuclear Information System (INIS)

    Drummond, S.M.

    1994-01-01

    This is a presentation of the United Kingdom's experience with power transmission open access. The topics of the presentation include the objectives of changing, commercial arrangements and economic drivers, long term effects, the effects of moving to a more competitive environment, and factors affecting open access such as political climate and market regulation

  11. Whale Teaching Unit.

    Science.gov (United States)

    Peninsula Humane Society, San Mateo, CA.

    Materials in this teaching unit are designed to foster an interest in whale preservation among intermediate grade and junior high school students. Several readings provide background information on various types of whales and the economic value of whales. Student activities include a true and false game, a crossword, and a mobile. A resource list…

  12. Multifunctional centrifugal grinding unit

    Science.gov (United States)

    Sevostyanov, V. S.; Uralskij, V. I.; Uralskij, A. V.; Sinitsa, E. V.

    2018-03-01

    The article presents scientific and engineering developments of multifunctional centrifugal grinding unit in which the selective effect of grinding bodies on the crushing material is realized, depending on its physical and mechanical characteristics and various schemes for organizing the technological process

  13. United in change

    NARCIS (Netherlands)

    Hanneke Posthumus; Josje den Ridder; Joep de Hart

    2014-01-01

    Original title: Verenigd in verandering The importance of citizens who unite in civil society organisations is broadly recognised. Organisations bind people to each other, to the community and to the political system. How are civil-society organisations in the Netherlands faring? Is there

  14. Unit III: International Conflict.

    Science.gov (United States)

    Maxey, Phyllis

    1983-01-01

    This lesson helps students understand the global network involved in international events. Students have an opportunity to examine the impact of international law and the role of international organizations, national governments, and private individuals in the effort to secure the release of United States hostages in Iran. (AM)

  15. Unit 16 - Output

    OpenAIRE

    Unit 16, CC in GIS; Star, Jeffrey L.

    1990-01-01

    This unit discusses issues related to GIS output, including the different types of output possible and the hardware for producing each. It describes text, graphic and digital data that can be generated by a GIS as well as line printers, dot matrix printers/plotters, pen plotters, optical scanners and cathode ray tubes (CRTs) as technologies for generating the output.

  16. Defining line replaceable units

    NARCIS (Netherlands)

    Parada Puig, J. E.; Basten, R. J I

    2015-01-01

    Defective capital assets may be quickly restored to their operational condition by replacing the item that has failed. The item that is replaced is called the Line Replaceable Unit (LRU), and the so-called LRU definition problem is the problem of deciding on which item to replace upon each type of

  17. Contamination analysis unit

    International Nuclear Information System (INIS)

    Gregg, H.R.; Meltzer, M.P.

    1996-01-01

    The portable Contamination Analysis Unit (CAU) measures trace quantities of surface contamination in real time. The detector head of the portable contamination analysis unit has an opening with an O-ring seal, one or more vacuum valves and a small mass spectrometer. With the valve closed, the mass spectrometer is evacuated with one or more pumps. The O-ring seal is placed against a surface to be tested and the vacuum valve is opened. Data is collected from the mass spectrometer and a portable computer provides contamination analysis. The CAU can be used to decontaminate and decommission hazardous and radioactive surfaces by measuring residual hazardous surface contamination, such as tritium and trace organics. It provides surface contamination data for research and development applications as well as real-time process control feedback for industrial cleaning operations and can be used to determine the readiness of a surface to accept bonding or coatings. 1 fig

  18. Combustion strategy : United Kingdom

    Energy Technology Data Exchange (ETDEWEB)

    Greenhalgh, D. [Heriot-Watt Univ., Edingburgh, Scotland (United Kingdom). School of Engineering and Physical Sciences

    2009-07-01

    The United Kingdom's combustion strategy was briefly presented. Government funding sources for universities were listed. The United Kingdom Research Councils that were listed included the Arts and Humanities Research Council (AHRC) and the Biotechnology and Biological Sciences Research Council (BBSRC); the Engineering and Physical Sciences Research Council (EPSRC); the Economic and Social Research Council; the Medical Research Council; the Natural Environment Research Council; and the Science and Technology Facilities Council. The EPSRC supported 65 grants worth 30.5 million pounds. The combustion industry was noted to be dominated by three main players of which one was by far the largest. The 3 key players were Rolls-Royce; Jaguar Land Rover; and Doosan Babcock. Industry and government involvement was also discussed for the BIS Technology Strategy Board, strategy technology areas, and strategy application areas.

  19. Uranium chemistry research unit

    International Nuclear Information System (INIS)

    Anon.

    1978-01-01

    The initial field of research of this Unit, established in 1973, was the basic co-ordination chemistry of uranium, thorium, copper, cobalt and nickel. Subsequently the interest of the Unit extended to extractive metallurgy relating to these metals. Under the term 'co-ordination chemistry' is understood the interaction of the central transition metal ion with surrounding atoms in its immediate vicinity (within bonding distance) and the influence they have on each other - for example, structural studies for determining the number and arrangement of co-ordinated atoms and spectrophotometric studies to establish how the f electron energy levels of uranium are influenced by the environment. New types of uranium compounds have been synthesized and studied, and the behaviour of uranium ions in non-aqueous systems has also received attention. This work can be applied to the development and study of extractants and new extractive processes for uranium

  20. Laser color recording unit

    Science.gov (United States)

    Jung, E.

    1984-05-01

    A color recording unit was designed for output and control of digitized picture data within computer controlled reproduction and picture processing systems. In order to get a color proof picture of high quality similar to a color print, together with reduced time and material consumption, a photographic color film material was exposed pixelwise by modulated laser beams of three wavelengths for red, green and blue light. Components of different manufacturers for lasers, acousto-optic modulators and polygon mirrors were tested, also different recording methods as (continuous tone mode or screened mode and with a drum or flatbed recording principle). Besides the application for the graphic arts - the proof recorder CPR 403 with continuous tone color recording with a drum scanner - such a color hardcopy peripheral unit with large picture formats and high resolution can be used in medicine, communication, and satellite picture processing.

  1. Optimally Locating MARFORRES Units

    OpenAIRE

    Salmeron, Javier; Dell, Rob

    2015-01-01

    Javier Salmeron and Rob Dell The U.S. Marine Forces Reserve (USMCR, MARFORRES) is conducting realignment studies where discretionary changes may benefit from formal mathematical analysis. This study has developed an optimization tool to guide and/or support Commander, MARFORRES (CMFR) decisions. A prototype of the optimization tool has been tested with data from the units and Reserve Training Centers (RTCs) in the San Francisco, CA and Sacramento, CA areas. Prepared for: MARFORRES, POC:...

  2. LIDAR COMBINED SCANNING UNIT

    Directory of Open Access Journals (Sweden)

    V. V. Elizarov

    2016-11-01

    Full Text Available Subject of Research. The results of lidar combined scanning unit development for locating leaks of hydrocarbons are presented The unit enables to perform high-speed scanning of the investigated space in wide and narrow angle fields. Method. Scanning in a wide angular field is produced by one-line scanning path by means of the movable aluminum mirror with a frequency of 20Hz and amplitude of 20 degrees of swing. Narrowband scanning is performed along a spiral path by the deflector. The deflection of the beam is done by rotation of the optical wedges forming part of the deflector at an angle of ±50. The control function of the scanning node is performed by a specialized software product written in C# programming language. Main Results. This scanning unit allows scanning the investigated area at a distance of 50-100 m with spatial resolution at the level of 3 cm. The positioning accuracy of the laser beam in space is 15'. The developed scanning unit gives the possibility to browse the entire investigated area for the time not more than 1 ms at a rotation frequency of each wedge from 50 to 200 Hz. The problem of unambiguous definition of the beam geographical coordinates in space is solved at the software level according to the rotation angles of the mirrors and optical wedges. Lidar system coordinates are determined by means of GPS. Practical Relevance. Development results open the possibility for increasing the spatial resolution of scanning systems of a wide range of lidars and can provide high positioning accuracy of the laser beam in space.

  3. Radiation quantities and units

    International Nuclear Information System (INIS)

    1980-01-01

    This report supersedes ICRU Report 19. Since ICRU Report 19 was published, a number of discussions have taken place between members of the Report Committee on Fundamental Quantities and Units and other workers in the field. Some of these discussions have resulted in the acceptance of certain modifications in the material set out in Report 19 and these modifications are incorporated in the current report. In addition, there has been some expansion and rearrangement of the material in the earlier report. In line, with providing more didactic material and useful source material for other ICRU reports, the general considerations in subsection 1.A of Report 19 have been expanded and placed in a separate subsection. The additional material includes discussions of four terms that are used in this document - quantity, unit, stochastic, and non-stochastic - along with a brief discussion of the mathematical formalism used in ICRU reports. As in ICRU Report 19, the definitions of quantities and units specifically designed for radiation protection (Part B) are separated from those of the general quantities (Part A). The inclusion of the index concept outlined in ICRU Report 25[4] required an extension of Part B

  4. United States rejoin ITER

    International Nuclear Information System (INIS)

    Roberts, M.

    2003-01-01

    Upon pressure from the United States Congress, the US Department of Energy had to withdraw from further American participation in the ITER Engineering Design Activities after the end of its commitment to the EDA in July 1998. In the years since that time, changes have taken place in both the ITER activity and the US fusion community's position on burning plasma physics. Reflecting the interest in the United States in pursuing burning plasma physics, the DOE's Office of Science commissioned three studies as part of its examination of the option of entering the Negotiations on the Agreement on the Establishment of the International Fusion Energy Organization for the Joint Implementation of the ITER Project. These were a National Academy Review Panel Report supporting the burning plasma mission; a Fusion Energy Sciences Advisory Committee (FESAC) report confirming the role of ITER in achieving fusion power production, and The Lehman Review of the ITER project costing and project management processes (for the latter one, see ITER CTA Newsletter, no. 15, December 2002). All three studies have endorsed the US return to the ITER activities. This historical decision was announced by DOE Secretary Abraham during his remarks to employees of the Department's Princeton Plasma Physics Laboratory. The United States will be working with the other Participants in the ITER Negotiations on the Agreement and is preparing to participate in the ITA

  5. United States advanced technologies

    International Nuclear Information System (INIS)

    Longenecker, J.R.

    1985-01-01

    In the United States, the advanced technologies have been applied to uranium enrichment as a means by which it can be assured that nuclear fuel cost will remain competitive in the future. The United States is strongly committed to the development of advanced enrichment technology, and has brought both advanced gas centrifuge (AGC) and atomic vapor laser isotope separation (AVLIS) programs to a point of significant technical refinement. The ability to deploy advanced technologies is the basis for the confidence in competitive future price. Unfortunately, the development of advanced technologies is capital intensive. The year 1985 is the key year for advanced technology development in the United States, since the decision on the primary enrichment technology for the future, AGC or AVLIS, will be made shortly. The background on the technology selection process, the highlights of AGC and AVLIS programs and the way to proceed after the process selection are described. The key objective is to maximize the sales volume and minimize the operating cost. This will help the utilities in other countries supply low cost energy on a reliable, long term basis. (Kako, I.)

  6. The Military Emergency Unit

    International Nuclear Information System (INIS)

    Gonzalez Requena, J. M.

    2007-01-01

    One of the most justified and pressing demands that society makes of the State, requiring a fast, forceful and effective response, is that it guarantees the safety of people and their assets when a disaster seriously endangers them. At the proposal of the President of the Government, the Cabinet of Ministers, in its meeting held on October 7, 2005, agreed to create the Military Emergency Unit, known since the as the UME. Its mission is to intervene anywhere in the national territory when the President of the Government, or the Minister to whom he delegates, so decides in order to assure the safety and welfare of citizens in cases of serious risk, disaster, catastrophe or any other public need. The UME is organically incorporated into the Ministry of Defense and its actions may be supported with all the available human and material needs of the Armed Forces. Availability and effectiveness, with calmness and humility, have characterized the early actions of the Military Emergency Unit and are the guidelines for future action. The first steps of this military unit have focused on a clear goal: collaboration and participation in situations whose seriousness requires the coordination of different forces in order to immediately respond to them. The UME is the States tool to join forces and, with other administration and institutions, help to rapidly and effectively deal with emergencies. It has taken its first step and achieved the capacity specified in the UME Operations Order for 2007. The 150 men and women per battalion, plus the 80 in the Gando detachment, are on active duty and have sufficient material means to deploy, if necessary and when requested by the regions, town councils an other administrative bodies, to help in the extinction of forest fires. (Author)

  7. Decommissioning Unit Cost Data

    International Nuclear Information System (INIS)

    Sanford, P. C.; Stevens, J. L.; Brandt, R.

    2002-01-01

    The Rocky Flats Closure Site (Site) is in the process of stabilizing residual nuclear materials, decommissioning nuclear facilities, and remediating environmental media. A number of contaminated facilities have been decommissioned, including one building, Building 779, that contained gloveboxes used for plutonium process development but did little actual plutonium processing. The actual costs incurred to decommission this facility formed much of the basis or standards used to estimate the decommissioning of the remaining plutonium-processing buildings. Recent decommissioning activities in the first actual production facility, Building 771, implemented a number of process and procedural improvements. These include methods for handling plutonium contaminated equipment, including size reduction, decontamination, and waste packaging, as well as management improvements to streamline planning and work control. These improvements resulted in a safer working environment and reduced project cost, as demonstrated in the overall project efficiency. The topic of this paper is the analysis of how this improved efficiency is reflected in recent unit costs for activities specific to the decommissioning of plutonium facilities. This analysis will allow the Site to quantify the impacts on future Rocky Flats decommissioning activities, and to develop data for planning and cost estimating the decommissioning of future facilities. The paper discusses the methods used to collect and arrange the project data from the individual work areas within Building 771. Regression and data correlation techniques were used to quantify values for different types of decommissioning activities. The discussion includes the approach to identify and allocate overall project support, waste management, and Site support costs based on the overall Site and project costs to provide a ''burdened'' unit cost. The paper ultimately provides a unit cost basis that can be used to support cost estimates for

  8. Unit for air decontamination

    International Nuclear Information System (INIS)

    Mariano H, E.

    1991-02-01

    To fulfill the applicable requirements of safety to the ventilation systems in nuclear facilities, it is necessary to make a cleaning of the air that hurtles to the atmosphere. For that which was designed and it manufactured an unit for decontamination of the air for the Pilot plant of production of Nuclear Fuel that this built one with national parts, uses Hepa national filters and the design can adapt for different dimensions of filters, also can be added a lodging for a prefilter or to adopt two Hepa filters. (Author)

  9. Waste Water Treatment Unit

    International Nuclear Information System (INIS)

    Ramadan, A.E.K.

    2004-01-01

    A wastewater treatment plant to treat both the sanitary and industrial effluent originated from process, utilities and off site units of the refinery is described. The purpose is to obtain at the end of the treatment plant, a water quality that is in compliance with contractual requirements and relevant environmental regulations. first treatment (pretreatment). Primary de-oiling, Equalization, Neutralization, Secondary de-oiling. Second treatment (Biological), The mechanism of BOD removal, Biological flocculation, Nutrient requirements, Nitrification, De-nitrification, Effect of temperature, Effect of ph, Toxicity

  10. Applied Meteorology Unit (AMU)

    Science.gov (United States)

    Bauman, William; Crawford, Winifred; Barrett, Joe; Watson, Leela; Wheeler, Mark

    2010-01-01

    This report summarizes the Applied Meteorology Unit (AMU) activities for the first quarter of Fiscal Year 2010 (October - December 2009). A detailed project schedule is included in the Appendix. Included tasks are: (1) Peak Wind Tool for User Launch Commit Criteria (LCC), (2) Objective Lightning Probability Tool, Phase III, (3) Peak Wind Tool for General Forecasting, Phase II, (4) Upgrade Summer Severe Weather Tool in Meteorological Interactive Data Display System (MIDDS), (5) Advanced Regional Prediction System (ARPS) Data Analysis System (ADAS) Update and Maintainability, (5) Verify 12-km resolution North American Model (MesoNAM) Performance, and (5) Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) Graphical User Interface.

  11. An ISOLDE target unit

    CERN Multimedia

    Maximilien Brice

    2002-01-01

    A good dozen different targets are available for ISOLDE, made of different materials and equipped with different kinds of ion-sources, according to the needs of the experiments. Each separator (GPS: general purpose; HRS: high resolution) has its own target. Because of the high radiation levels, robots effect the target changes, about 80 times per year. In the standard unit shown in picture _01, the target is the cylindrical object in the front. It contains uranium-carbide kept at a temperature of 2200 deg C, necessary for the isotopes to be able to escape. At either end, one sees the heater current leads, carrying 700 A. The Booster beam, some 3E13 protons per pulse, enters the target from left. The evaporated isotope atoms enter a hot-plasma ion source (the black object behind the target). The whole unit sits at 60 kV potential (pulsed in synchronism with the arrival of the Booster beam) which accelerates the ions (away from the viewer) towards one of the 2 separators.

  12. The United Kingdom

    International Nuclear Information System (INIS)

    Jones, P.M.S.

    1987-01-01

    The history of nuclear development in the United Kingdom is traced, together with the factors (eg electricity demand, fossil fuel prices, political policy) that have influenced policy choices. Many of the research establishments and the fissile material production plants were established in the late 1940s. In these early years the civil and military development programmes were not separate. The initial growth period was in the 1950s when the plan was to build twelve reactors in three groups of four over ten years. The first were to be Magnox type reactors. This was trebled in 1957 and the advanced gas cooled reactor was developed. The Windscale fire in 1957 affected confidence in the nuclear programme. However, five AGR twin-reactor stations were ordered in 1964. These ran into construction problems and delay and it was not until 1980 that more new units were contemplated. The plan then was to build a pressurized water reactor at Sizewell-B. A delay to allow for the public inquiry put back the start of this until 1987 with commissioning planned for 1994. A list of the UK nuclear power stations is given and their operating performance discussed. The present situation and future prospects for nuclear power are reviewed. (U.K.)

  13. Functional unit for a processor

    NARCIS (Netherlands)

    Rohani, A.; Kerkhoff, Hans G.

    2013-01-01

    The invention relates to a functional unit for a processor, such as a Very Large Instruction Word Processor. The invention further relates to a processor comprising at least one such functional unit. The invention further relates to a functional unit and processor capable of mitigating the effect of

  14. Design of hydraulic recuperation unit

    Directory of Open Access Journals (Sweden)

    Jandourek Pavel

    2016-01-01

    Full Text Available This article deals with design and measurement of hydraulic recuperation unit. Recuperation unit consist of radial turbine and axial pump, which are coupled on the same shaft. Speed of shaft with impellers are 6000 1/min. For economic reasons, is design of recuperation unit performed using commercially manufactured propellers.

  15. Snakes: An Integrated Unit Plan.

    Science.gov (United States)

    Lawrence, Lisa

    This document presents an integrated unit plan on snakes targeting second grade students. Objectives of the unit include developing concepts of living things, understanding the contribution and importance of snakes to the environment, and making connections between different disciplines. The unit integrates the topic of snakes into the areas of…

  16. Inlet Geomorphology Evolution Work Unit

    Science.gov (United States)

    2015-10-30

    Coastal Inlets Research Program Inlet Geomorphology Evolution Work Unit The Inlet Geomorphology Evolution work unit of the CIRP develops methods...morphologic response. Presently, the primary tool of the Inlet Geomorphology Evolution work unit is the Sediment Mobility Tool (SMT), which allows the user

  17. United Arab Emirates.

    Science.gov (United States)

    1985-02-01

    This discussion of the United Arab Emirates focuses on the following: the people; geography; history; government; political conditions; defense; the economy; foreign relations; and relations between the US and the United Arab Emirates. In 1983 the population was estimated at 1,194,000. In 1984 the annual growth rate was negative. Life expectancy is about 60 years. Fewer than 20% of the population are UAE citizens. Indigenous Emiris are Arab; the rest of the population includes significant numbers of other Arabs -- Palestinians, Egyptians, Jordanians, Yemenis, Omanis, as well as many Iranians, Pakistanis, Indians, and West Europeans, especially in Dubai. The UAE is in the eastern Arabian Peninsula, bounded on the north by the Persian Gulf. European and Arab pirates roamed the Trucial Coast area from the 17th century into the 19th century. Early British expeditions against the pirates led to further campaigns against their headquarters. Piracy continued intermittently until 1835, when the shaikhs agreed not to engage in hostilities at sea. Primarily in reaction to the ambitions of other European countries, the UK and the Trucial States established closer bonds in an 1892 treaty. In 1968 the British government announced its decision, reaffirmed in March 1971, to end the treaty relationship with the gulf shaikhdoms. When the British protective treaty with the Trucial Shaikhdoms ended on December 1, they became fully independent. On December 2, 1971, 6 of them entered into a union called the United Arab Emirates. The 7th, Ras al-Khaimah, joined in early 1972. Administratively, the UAE is a loose federation of 7 emirates, each with its own ruler. The pace at which local government in each emirate is evolving, from traditional to modern, is set primarily by the ruler. Under the provisional constitution of 1971, each emirate reserves considerable powers, including control over mineral rights, taxation, and police powers. In this milieu, the growth of federal powers has

  18. Concurrent validity and reliability of torso-worn inertial measurement unit for jump power and height estimation.

    Science.gov (United States)

    Rantalainen, Timo; Gastin, Paul B; Spangler, Rhys; Wundersitz, Daniel

    2018-09-01

    The purpose of the present study was to evaluate the concurrent validity and test-retest repeatability of torso-worn IMU-derived power and jump height in a counter-movement jump test. Twenty-seven healthy recreationally active males (age, 21.9 [SD 2.0] y, height, 1.76 [0.7] m, mass, 73.7 [10.3] kg) wore an IMU and completed three counter-movement jumps a week apart. A force platform and a 3D motion analysis system were used to concurrently measure the jumps and subsequently derive power and jump height (based on take-off velocity and flight time). The IMU significantly overestimated power (mean difference = 7.3 W/kg; P jump heights exhibited poorer concurrent validity (ICC = 0.72 to 0.78) and repeatability (ICC = 0.68) than flight-time-derived jump heights, which exhibited excellent validity (ICC = 0.93 to 0.96) and reliability (ICC = 0.91). Since jump height and power are closely related, and flight-time-derived jump height exhibits excellent concurrent validity and reliability, flight-time-derived jump height could provide a more desirable measure compared to power when assessing athletic performance in a counter-movement jump with IMUs.

  19. UNITED KINGDOM: under pressure

    International Nuclear Information System (INIS)

    Anon.

    1994-01-01

    While attempting bravely to sustain the legacy left by J.J. Thomson, Rutherford, Chadwick, Cockcroft, Blackett, Dirac and others earlier this century, the United Kingdom, one of the major contributors to CERN, has suffered in recent years from an erosion of the international purchasing power of the pound sterling. At the same time, the national scientific community has squabbled over the apportionment of the research cake. In recent years, the CERN budget has remained constant in real terms, but the pound has drifted steadily down. In 1984 one pound bought 3.15 Swiss francs, now it gets just over 2. The hypersensitivity which left calculations at the mercy of exchange rate hiccups was cushioned in 1988 by a new method of calculating national CERN contributions, introduced by Chris Llewellyn Smith, now the Laboratory's Director General, using less sensitive input data

  20. United Kingdom national report

    International Nuclear Information System (INIS)

    Tomkins, B.

    1998-01-01

    Report of the United Kingdom deals with life extension granted to Calder Hall and Chapelcross reactors for further 10 years operation. The two well recognised life-limiting features of Magnox type reactors are graphite core ageing and materials properties of the reactor pressure circuit components. These features have been scrutinised particularly closely and the conclusion has been reached that there are no safety factors which will necessarily limit the plant life to less than 50 years. Two other life-limiting factors are hear exchanger tubes and the heat exchanger tube failures internal to boiler shells and the integrity of the main engineering structures of the plant. It was concluded that appropriate routine ageing monitoring programs are in place in respect to these features to support continuing operation beyond 40 years

  1. Mobile power plant units

    Energy Technology Data Exchange (ETDEWEB)

    Radtke, R

    1979-10-05

    Diesel engines of the MaK line 282 AK/332 with a cylinder power up to 160 kW are used, either as 6-cylinder or 8-cylinder in-line engine or as 12-cylinder V engine. Fuel consumption is between 207 and 212 g/kW. The engine is mounted on a frame, together with a generator. The fuel reserve in the tank will last for 8 hours. The lubricating system, the cooling water and starting air system, the switchboard system, and the frame are described. The switchboard plant is mounted either on a skid undercarriage or on the undercarriage. The plant can be operated independently or parallel to the network. The unit can be remote-controlled via push buttons or control knobs. A picture is presented of a mobile diesel aggregate which is in service in Libya.

  2. The United States

    International Nuclear Information System (INIS)

    Art, R.J.

    1991-01-01

    This paper reports that at least in the national security arena, the outcomes of bureaucratic infighting and domestic political struggles are not determined wholly by what goes on with the state. Rather struggles among contending groups are greatly affected by what is perceived to be happening outside the nation. Because external conditions give greater potency to some domestic forces over other, the external environment is never neutral in its domestic impact. The decisions of the period 1950-53 discussed above illustrate the point. But so too do the decisions of 1947, 1960-61 and 1969-72. In the 1947 case, Soviet intransigence provoked US nuclear rearmament. In the 1960-61 case, extended deterrent considerations pushed the United States to preserve its again newly discovered nuclear superiority. In the 1969-72 case, a Soviet determination to remain equal forced US acceptance of nuclear equality. And perhaps the best evidence of all, the perpetuation of parity ended the US inclination to resort to nuclear brinkmanship. In each instance, concerns about relative position heavily affected nuclear choice. Finally, the events of the past three years testify to the effects of international events on domestic choice. Under the terms of the 1987 INF Treaty, the two superpowers decided to dismantle and destroy an entire class of missiles of intermediate range (500-3000 kilometers) that both had deployed in Europe in the 1970s and 1980s, and in their June 1990 joint statement on strategic nuclear weapons, President Gorbachev and Brush agreed to cut the number of Soviet and US long range nuclear forces by 30 per cent. This agreement marks a watershed in US-Soviet strategic arm negotiations because for the first time the United States and the Soviet Union agreed in principals to reduce the number of weapons aimed at one another. Between 1985 and 1990 the cold war was brought to a close

  3. SI units in radiation protection

    International Nuclear Information System (INIS)

    Herrmann, D.

    1976-10-01

    In the field of radiation protection all hitherto used units for activity, activity concentrations, exposure, absorbed dose, and dose rates have to be replaced by SI units during the next years. For this purpose graphs and conversion tables are given as well as recommendations on unit combinations preferentially to be used. As to the dose equivalent, it is suggested to introduce a new special unit being 100 times greater than the rem, instead of maintaining the rem or using the gray for both absorbed dose and dose equivalent. Measures and time schedule relating to the gradual transition to SI units in measuring techniques, training, and publishing et cetera are explained. (author)

  4. SI units in radiation protection

    International Nuclear Information System (INIS)

    Jain, V.K.; Soman, S.D.

    1978-01-01

    International System of Units abbreviated as SI units has been adopted by most of the countries of the world. Following this development, the implementation of SI units has become mandatory with a transition period of about ten years. Some of the journals have already adopted the SI units and any material sent for publication to them must use only these. International Commission on Radiation Units and Measurement (ICRU) published letters in several journals including Physics in Medicine and Biology, Health Physics, British Journal of Radiology, etc. outlining the latest recommendations on SI units to elicit the reactions of scientists in the general field of radiological sciences. Reactions to the letters were numerous as can be seen in the correspondence columns of these journals for the last few years and ranged from great misgivings and apprehension to support and appreciation. SI units have also been the subject of editorial comments in several journals. On the basis of a survey of this literature, it may be said that there was general agreement on the long term advantage of SI units inspite of some practical difficulties in their use particularly in the initial stages. This report presents a review of SI units in radiological sciences with a view to familiarize the users with the new units in terms of the old. A time table for the gradual changeover to the SI units is also outlined. (auth.)

  5. SI units in biomedical dosimetry

    International Nuclear Information System (INIS)

    Liden, K.

    1975-01-01

    The International commission on radiation units and measurements (ICRU), during the period from 1953 to 1962 presented its definitions of the quantities absorbed dose, exposure, activity, and dose equivalent and the corresponding special units the rad, the roentgen, the curie, and the rem. At the same time an international practical system of units was developed, Le Systeme International d'Unites (SI). It was adopted by the 11th Conference Generale des Poids et Mesures (CGPM) in 1960 and is now officially introduced in almost all countries. The general implementation of the SI means difficulties for the future use of the special radiation units, because the numerical factors involved prevent their adoption as SI units. In view of this, and after having sampled the opinion in the radiological field, the ICRU prepared a Statement on Units in July, 1974 which was forwarded to the Comite International des Poids et Mesures (CIPM) and its Comite Consultatif des Unites (CCU) for consideration. As a result of this statement the CIPM has now proposed, that the 15rh CGPM adopt special names for two SI units, namely the becquerel, symbol Bq, for the unit of activity of radionuclides equal to the reciprocal second, s 1- , and the gray, symbol Gy, for the unit of absorbed dose equal to the joule per kilogram, J/kg. The 15th CGPM will consider this matter in May, 1975. (author)

  6. Applications of Should Cost to Achieve Cost Reductions

    Science.gov (United States)

    2014-04-01

    CAS . . . . . . . . Control Actuation Section CATM . . . . . . Captive Air Training Missile CATM BIT . . . . . . . . . Captive Air Training Missile...Integrated Fire Control Network IMU . . . . . . . . . . Inertial Measurment Unit IOC . . . . . . .Initial Operational Capability IOT . . . . . . . . . Initial

  7. From big data to rich data : The key features of athlete wheelchair mobility performance

    NARCIS (Netherlands)

    van der Slikke, R.M.A.; Berger, MAM; Bregman, DJJ; Veeger, H.E.J.

    2016-01-01

    Quantitative assessment of an athlete׳s individual wheelchair mobility performance is one prerequisite needed to evaluate game performance, improve wheelchair settings and optimize training routines. Inertial Measurement Unit (IMU) based methods can be used to perform such quantitative assessment,

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

    Data.gov (United States)

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

  9. IceBridge LVIS L0 Raw Ranges

    Data.gov (United States)

    National Aeronautics and Space Administration — This data set contains raw laser altimeter, Inertial Measurement Unit (IMU), Global Positioning System (GPS), and camera data over Greenland and Antarctica taken...

  10. IceBridge LVIS L0 Raw Ranges

    Data.gov (United States)

    National Aeronautics and Space Administration — This data set contains raw laser altimeter, Inertial Measurement Unit (IMU), Global Positioning System (GPS), and camera data over Greenland, Antarctica, and Alaska...

  11. [United theory of aging].

    Science.gov (United States)

    Trubitsyn, A G

    2012-01-01

    In attempts to develop a means of life prolongation the humankind has created more than three hundred theories of the aging; each of them offers the original cause of aging. However, none of them has given practical result by now. The majority of the theories have now only historical interest. There are several different theories that are mainly under consideration currently. They are based on reliable, proven evidence: the free radical theory, the protein error theory, the replicative senescence theory, the theory of reparation weakening, the immunological theory, several versions of neuroendocrinal theories, and programmed aging theory. The theory presented here is based on conception that the life as the phenomenon represents many of the interconnected physical and chemical processes propelled by energy of the mitochondrial bioenergetical machine. Gradual degradation of all vital processes is caused by the programmed decrease in level of bioenergetics. This theory unites all existing theories of aging constructed on authentic facts: it is shown, that such fundamental phenomena accompanying aging process as the increase in level of reactive oxygen species (ROS), the decrease in the general level of protein synthesis, the limitation of cellular dividing (Haiflick limit), decrease in efficiency of reparation mechanisms are caused by bioenergetics attenuation. Each of these phenomena in turn generates a number of harmful secondary processes. Any of the theories bases on one of these destructive phenomena or their combination. Hence, each of them describes one of sides of process of the aging initially caused by programmed decrease of level of bioenergetics. This united theory gives the chance to understand the nature of aging clock and explains a phenomenon of increase in longevity at the condition of food restriction. Failures of attempts to develop means from aging are explained by that the manipulations with the separate secondary phenomena of attenuation of

  12. United Kingdom position paper

    International Nuclear Information System (INIS)

    1983-01-01

    In any system employing liquid sodium as a coolant, large heat transfer coefficients exist between the metal structure containing the coolant, and the coolant itself. Any rapidly varying temperatures, either space wise or time wise, in the sodium are readily transmitted to the surrounding metal structure, resulting in the generation of appreciable thermal stresses within these structures. In particular, the phenomenon of thermal stratification in the sodium coolant has the potential to induce unacceptable thermal stresses throughout the system. With respect to the present U.K. fast reactor design, a large programme of work in connection with the thermal hydraulic aspects of the plant is in hand. This programme is being undertaken as a joint effort by the National Nuclear Corporation, the United Kingdom Atomic Energy Authority, and the Central Electricity Generating Board. Work is in progress both to identify the areas of the system that will be susceptible to, and to ensure that the design is capable of successfully withstanding any thermal stratification effects. The production of stratification phenomena depends both upon the design and the operation of the reactor system. These are briefly described below. Areas where thermal stratification effects exist are then identified and the programme of work associated with each area is outlined

  13. Intensive Care Unit Delirium

    Directory of Open Access Journals (Sweden)

    Yongsuk Kim

    2015-05-01

    Full Text Available Delirium is described as a manifestation of acute brain injury and recognized as one of the most common complications in intensive care unit (ICU patients. Although the causes of delirium vary widely among patients, delirium increases the risk of longer ICU and hospital length of stay, death, cost of care, and post-ICU cognitive impairment. Prevention and early detection are therefore crucial. However, the clinical approach toward delirium is not sufficiently aggressive, despite the condition’s high incidence and prevalence in the ICU setting. While the underlying pathophysiology of delirium is not fully understood, many risk factors have been suggested. As a way to improve delirium-related clinical outcome, high-risk patients can be identified. A valid and reliable bedside screening tool is also needed to detect the symptoms of delirium early. Delirium is commonly treated with medications, and haloperidol and atypical antipsychotics are commonly used as standard treatment options for ICU patients although their efficacy and safety have not been established. The approaches for the treatment of delirium should focus on identifying the underlying causes and reducing modifiable risk factors to promote early mobilization.

  14. Mobile contingency unit

    Energy Technology Data Exchange (ETDEWEB)

    Silva, Sergio O. da; Magalhaes, Milton P. de [Petroleo Brasileiro S.A. (PETROBRAS), Rio de Janeiro, RJ (Brazil); Junqueira, Rodrigo A.; Torres, Carlos A.R. [PETROBRAS Transporte S/A (TRANSPETRO), Rio de Janeiro, RJ (Brazil)

    2009-07-01

    This paper is aimed at presenting what is already a reality in TRANSPETRO in the area covered by OSBRA, a pipeline that carries by-products to the Mid-West region of Brazil. In order to meet the needs of covering occasional accidents, TRANSPETRO counts on a standardized system of emergency management. It is a great challenge to secure an efficient communication along the 964 km of extension, considering that there are shadow zones where it is not possible to use conventional means of communication such as mobile telephony and internet. It was in this context that the Mobile Contingency Unit Via Satellite - MCU was developed, to extend the communication facilities existing in fixed installations to remote places, mainly the pipeline right of ways. In case of emergency, simulation and work in the pipeline right of way, MCU is fully able to provide the same data, voice, closed-circuit TV and satellite video conference facilities that are available in any internal area of the PETROBRAS system. (author)

  15. Biobank Report: United Kingdom.

    Science.gov (United States)

    Kaye, Jane; Bell, Jessica; Briceno, Linda; Mitchell, Colin

    2016-03-01

    The United Kingdom is a leader in genomics research, and the presence of numerous types of biobanks and the linking of health data and research within the UK evidences the importance of biobank-based research in the UK. There is no biobank-specific law in the UK and research on biobank materials is governed by a confusing set of statutory law, common law, regulations, and guidance documents. Several layers of applicable law, from European to local, further complicate an understanding of privacy protections. Finally, biobanks frequently contain data in addition to the samples; the legal framework in the UK generally differentiates between data and samples and the form of the data affects the applicability of legal provisions. Biobanks must be licensed by the Human Tissue Authority; certain projects must be reviewed by Research Ethics Committees, and all projects are encouraged to be reviewed by them. Data Access Committees in biobanks are also common in the UK. While this confusing array of legal provisions leaves privacy protections in biobanking somewhat unclear, changes at the EU level may contribute to harmonization of approaches to privacy. © 2016 American Society of Law, Medicine & Ethics.

  16. The United Kingdom

    International Nuclear Information System (INIS)

    Croft, S.; Williams, P.

    1991-01-01

    The possession of nuclear weapons by the United Kingdom has long been a controversial issue in British politics, and among historians and strategists. Part of the controversy has revolved around questions of motivation. Why did the British Government under Prime Minister Clement Attlee develop nuclear weapons? Why have successive British governments maintained and, in fact, modernized the national nuclear force? This paper reports that a frequent response to these questions is to place the issue of the acquisition of nuclear weapons by the UK into a post-colonial context. In the nineteenth and early twentieth centuries, Britain was a great power with global assets and commitments. After the Empire was reduced in size and importance, however, and eventually swept away, Britain could not longer claim to be a superpower in any modern sense. Nevertheless, it is suggested, British policy makers had developed a foreign policy based upon certain assumptions about Britain's position and power and they were reluctant to relinquish these assumptions. Furthermore, it is contended, the decision to develop nuclear weapons was taken to reinforce what were the pretensions of a medium power, and the continued obsession of successive British governments with nuclear weapons provides evidence that Britain has still not come to terms with its reduced role and limited influence. In short, the British infatuation with nuclear weapons over the past 40 years is best explained in terms of concerns about status

  17. Units of rotational information

    Science.gov (United States)

    Yang, Yuxiang; Chiribella, Giulio; Hu, Qinheping

    2017-12-01

    Entanglement in angular momentum degrees of freedom is a precious resource for quantum metrology and control. Here we study the conversions of this resource, focusing on Bell pairs of spin-J particles, where one particle is used to probe unknown rotations and the other particle is used as reference. When a large number of pairs are given, we show that every rotated spin-J Bell state can be reversibly converted into an equivalent number of rotated spin one-half Bell states, at a rate determined by the quantum Fisher information. This result provides the foundation for the definition of an elementary unit of information about rotations in space, which we call the Cartesian refbit. In the finite copy scenario, we design machines that approximately break down Bell states of higher spins into Cartesian refbits, as well as machines that approximately implement the inverse process. In addition, we establish a quantitative link between the conversion of Bell states and the simulation of unitary gates, showing that the fidelity of probabilistic state conversion provides upper and lower bounds on the fidelity of deterministic gate simulation. The result holds not only for rotation gates, but also to all sets of gates that form finite-dimensional representations of compact groups. For rotation gates, we show how rotations on a system of given spin can simulate rotations on a system of different spin.

  18. Hanford Site Waste management units report

    International Nuclear Information System (INIS)

    1992-01-01

    This report summarizes the operable units in several areas of the Hanford Site Waste Facility. Each operable unit has several waste units (crib, ditch, pond, etc.). The operable units are summarized by describing each was unit. Some of the descriptions are unit name, unit type, waste category start data, site description, etc. The descriptions will vary for each waste unit in each operable unit and area of the Hanford Site

  19. Intelligent Behavioral Action Aiding for Improved Autonomous Image Navigation

    Science.gov (United States)

    2012-09-13

    odometry, SICK laser scanning unit ( Lidar ), Inertial Measurement Unit (IMU) and ultrasonic distance measurement system (Figure 32). The Lidar , IMU...2010, July) GPS world. [Online]. http://www.gpsworld.com/tech-talk- blog/gnss-independent-navigation-solution-using-integrated- lidar -data-11378 [4...Milford, David McKinnon, Michael Warren, Gordon Wyeth, and Ben Upcroft, "Feature-based Visual Odometry and Featureless Place Recognition for SLAM in

  20. Judicial Process, Grade Eight. Resource Unit (Unit V).

    Science.gov (United States)

    Minnesota Univ., Minneapolis. Project Social Studies Curriculum Center.

    This resource unit, developed by the University of Minnesota's Project Social Studies, introduces eighth graders to the judicial process. The unit was designed with two major purposes in mind. First, it helps pupils understand judicial decision-making, and second, it provides for the study of the rights guaranteed by the federal Constitution. Both…

  1. The Executive Process, Grade Eight. Resource Unit (Unit III).

    Science.gov (United States)

    Minnesota Univ., Minneapolis. Project Social Studies Curriculum Center.

    This resource unit, developed by the University of Minnesota's Project Social Studies, introduces eighth graders to the executive process. The unit uses case studies of presidential decision making such as the decision to drop the atomic bomb on Hiroshima, the Cuba Bay of Pigs and quarantine decisions, and the Little Rock decision. A case study of…

  2. United States mineral resources

    Science.gov (United States)

    Brobst, Donald A.; Pratt, Walden P.

    1973-01-01

    650 of the U.S. Bureau of Mines) ; indeed, we regard that book and the present volume as being complementary. In the examination of the geologic possibilities for finding new deposits-in many respects the principal innovative contributions of this volume-we asked the authors to frankly apply the limits of their ingenuity and not only to summarize current theories but also to express their own intuitive ideas, however speculative and unconventional they may seem, that have come from years of study devoted to the origin of mineral deposits. Readers will see that some authors have speculated more courageously than others. In any case, we believe readers will find all the chapters interesting, and many stimulating; and a few we believe can be frankly characterized as intellectually exciting. Most chapters include a section on prospecting techniques, and a summary of geologic or related problems on which the authors believe research might be most fruitful in the continuing efforts to find new resources. An integral part of the book is the bibliographic material cited at the conclusion of each chapter, in lieu of repetition of detailed descriptions already in print. Index and "spot" maps are not included in most chapters because they are available elsewhere, and in many cases with more detail than could possibly be included here. Maps showing the distribution of known deposits of many commodities in the United States are available in the Mineral Resource (MR) map series of the U.S. Geological Survey and in the National Atlas of the United States. The first three chapters deal not with resources of specific commodities but with general information that is pertinent to the study of mineral resources. In the introductory chapter we discuss the purposes of the book, the distinctions between reserves and various categories of resources, and some general conclusions drawn from our view of the book in its entirety. In the second chapter V. E. McKelvey discusses the problems of

  3. Fatigue of Concrete Armour Units

    DEFF Research Database (Denmark)

    Sørensen, N. B.; Burcharth, H. F.; Liu, Z.

    1995-01-01

    In the present article fatigue as a possible reason for failure of Dolosse armour units made of plain concrete is discussed.......In the present article fatigue as a possible reason for failure of Dolosse armour units made of plain concrete is discussed....

  4. NZG 201 portable spectrometric unit

    International Nuclear Information System (INIS)

    Jursa, P.; Novakova, O.; Slezak, V.

    The NZG 201 spectrometric unit is a portable single-channel processing unit supplied from the mains or a battery which allows the qualitative and quantitative measurement of different types of ionizing radiation when connected to a suitable detection unit. The circuit layout and the choice of control elements makes the spectrometric unit suitable for use with scintillation detector units. The spectrometric unit consists of a pulse amplifier, an amplitude pulse analyzer, a pulse counter, a pulse rate counter with an output for a recorder, a high voltage source and a low voltage source. The block diagram is given. All circuits are modular and are mounted on PCB's. The apparatus is built in a steel cabinet with a raised edge which protects the control elements. The linear pulse amplifier has a maximum gain of 1024, the pulse counter has a maximum capacity of 10 6 -1 imp and time resolution better than 0.5 μs. The temperature interval at which the apparatus is operational is 0 to 45 degC, its weight is 12.5 kg and dimensions 36x280x310 mm, energy range O.025 to 2.5 MeV, for 137 Cs the energy resolution is 8 to 10%. The spectrometric unit NZG 2O1 may, with regard to its parameters, number and range of control elements, be used as a universal measuring unit. (J.P.)

  5. Imagine There's No Carnegie Unit

    Science.gov (United States)

    Klevgaard, Janine

    2013-01-01

    This article describes how the Alberta Education High School Flexibility Enhancement Pilot Project allowed 16 high schools in Alberta, Canada, to remove the restrictions of the Carnegie unit, the seat time per credit requirement that has been widely used since 1906. The two purposes of the project were to determine whether the Carnegie unit should…

  6. Definitions of Quantities and Units.

    Science.gov (United States)

    Spurgin, C. B.

    1983-01-01

    Compares various methods of defining derived quantities, arguing for a definitional formula using base or fundamental units in a word equation, or symbol-equations with the symbols explained. Suggests that fundamental units be defined operationally or left regarded as intuitive as in the case of length and time. (JM)

  7. Science Unit Plans. PACE '94.

    Science.gov (United States)

    Schoon, Kenneth J., Ed.; Wiles, Clyde A., Ed.

    This booklet contains mathematics unit plans for Biology, Chemistry, and Physical Science developed by PACE (Promoting Academic Excellence In Mathematics, Science & Technology for Workers of the 21st Century). Each unit plan contains suggested timing, objectives, skills to be acquired, workplace relationships, learning activities with suggested…

  8. Edison Home Community Study Unit.

    Science.gov (United States)

    Lee County School District, Ft. Myers, FL. Dept. of Environmental Education and Instructional Development Services.

    History is not merely events that occurred in the past. The past has influenced the present, as the present will influence the future. The purpose of this community study unit is to provide fourth grade students with an opportunity to investigate some of the history of Lee County, Florida. The unit's focus is on Thomas Edison, who built a home in…

  9. 7 CFR 1160.104 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 9 2010-01-01 2009-01-01 true United States. 1160.104 Section 1160.104 Agriculture... Definitions § 1160.104 United States. United States means the 48 contiguous states in the continental United States and the District of Columbia, except that United States means the 50 states of the United States...

  10. United States panel presentations

    International Nuclear Information System (INIS)

    Beyea, J.

    1990-01-01

    Before I begin I have to make a disclaimer. That is that I am going to be talking about public perception because I think that is very important. But I do not want to give the impression that I think the public is wrong. I happen to agree with the public's perception of nuclear power, and I want to make that clear. I do not like the current generation of nuclear plants as I have made clear in many statements that I have made. On the other hand, in the long term, I feel that we have only two choices on the supply side, and that is nuclear power and solar electricity. And although I think solar electricity has the best chance, I am realistic enough to know that technologies do not always work the way I want. And so I think it is necessary to have at least some kind of nuclear option available. On the other hand, I do not think just any kind of nuclear technology will do. I want to talk to you about the conditions that I think you have to take into account when you try to design reactors that are publicly acceptable. I look at this as an insurance policy. Again, I do not want to be misquoted: I think nuclear power should be considered as an insurance policy, not as our first line of defense. Having made those disclaimers, what we need to do is set out a problem statement. The problem statement I set out is, 'How could one design and demonstrate a nuclear reactor that would regain public confidence in the United States, if one chose to do that?' By regaining confidence, I mean regaining sufficient confidence to site reactors at a number of locations. It is a pretty heavy task because the public cannot judge the technical issues. They have to judge the players by their characters and their histories, just as the way we calibrate anyone that knows things that we do not. I have three theses that I think are crucial. The first is that people do not believe in the claims of advocates, of any point of view, not just nuclear power, once the advocates have been proved wrong on

  11. The United Kingdom: Issues for the United States

    National Research Council Canada - National Science Library

    Archick, Kristin

    2007-01-01

    ...; and more recently, from the UK's strong support in countering terrorism and confronting Iraq. The United States and Britain also share a mutually beneficial trade and economic relationship, and are each other's biggest foreign direct investors...

  12. A functional intranet for the United States Coast Guard Unit

    OpenAIRE

    Hannah, Robert Todd.

    1998-01-01

    Approved for public release; distribution in unlimited. This thesis describes the complete development process of a friendly functional Intranet for an operational United States Coast Guard (USCG) electronic Support Unit (ESU) in Alameda, California. The final product is suitable for immediate use. It may also be used as a prototype for future Intranet development efforts. The methodology used to develop a finished, working product provides the core subject matter for this thesis. The disc...

  13. Development of diagnostic mammography unit

    Energy Technology Data Exchange (ETDEWEB)

    Matsubara, M.; Muraki, T.; Kitade, K. (Toshiba Corp., Kawasaki, Kanagawa (Japan))

    1981-07-01

    The mortality from breast cancer is gradually increasing year after year. Accordingly, it is eagerly desired that X-ray diagnosis information be obtainable with higher accuracy and ease for early detection of the disease. Meeting this demand, development has been made of a 2 x magnification mammography unit (Model MGU-01) capabel of minutely depicting microcalcifications with a size of 150 ..mu..m or thereabout and the peripheral condition of a mammary abscess. The background of the development, the substance of the unit and the examination made of the unit are described here.

  14. Development of diagnostic mammography unit

    International Nuclear Information System (INIS)

    Matsubara, Mitsuyoshi; Muraki, Takeshi; Kitade, Kooichi

    1981-01-01

    The mortality from breast cancer is gradually increasing year after year. Accordingly, it is eagerly desired that X-ray diagnosis information be obtainable with higher accuracy and ease for early detection of the disease. Meeting this demand, development has been made of a 2 x magnification mammography unit (Model MGU-01) capabel of minutely depicting microcalcifications with a size of 150 μm or thereabout and the peripheral condition of a mammary abscess. The background of the development, the substance of the unit and the examination made of the unit are described here. (author)

  15. Ad valorem versus unit taxes

    DEFF Research Database (Denmark)

    Schröder, Philipp J.H.; Sørensen, Allan

    2010-01-01

    a general equilibrium monopolistic competition model with heterogeneous firms and intra-industry reallocations. We show that the welfare superiority of ad valorem over unit taxes under imperfect competition is not only preserved but amplified. The additional difference between the tools arises because unit...... taxes distort relative prices, which in turn reduces average industry productivity through reallocations (the survival and increased market share of lower productivity firms). Importantly, numerical solutions of the model reveal that the relative welfare loss from using the unit tax increases...

  16. Design of Dolos Armour Units

    DEFF Research Database (Denmark)

    Burcharth, H. F.; Liu, Zhou

    1993-01-01

    The slender, complex types of armour units, such as Tetrapods and Dolosse are widely used. Many of the recent failures are such rubble mound breakwaters revealed that there is an imbalance between strength (structural integrity) of the units and the hydraulic stability (resistance to displacements......) of the armour layers. The paper deals only with dolos armour and presents the first design diagrammes and formulae where stresses from static, quasistatic and impact loads are implemented as well as the hydraulic stability. The dolos is treated as a multi shape unit where the thickness can be adjusted...

  17. Tax_Units_2011_Final

    Data.gov (United States)

    Kansas Data Access and Support Center — The Statewide GIS Tax Unit boundary file was created through a collaborative partnership between the State of Kansas Department of Revenue Property Valuation...

  18. Integrated Ground Operations Demonstration Units

    Data.gov (United States)

    National Aeronautics and Space Administration — The overall goal of the AES Integrated Ground Operations Demonstration Units (IGODU) project is to demonstrate cost efficient cryogenic operations on a relevant...

  19. Renewable energies in United Kingdom

    International Nuclear Information System (INIS)

    Baize, T.

    1993-01-01

    An evaluation of research and development policy in United Kingdom on renewable energy sources is presented with economical studies (short or long term profitability), engaged programs and electric production. (A.B.). refs. tabs

  20. NCHS - Injury Mortality: United States

    Data.gov (United States)

    U.S. Department of Health & Human Services — This dataset describes injury mortality in the United States beginning in 1999. Two concepts are included in the circumstances of an injury death: intent of injury...

  1. Unit 06 - Sampling the World

    OpenAIRE

    Unit 06, CC in GIS; Parson, Charles; Nyerges, Timothy

    1990-01-01

    This unit begins the section on data acquisition by looking at how the infinite complexity of the real world can be discretized and sampled. It considers sampling techniques and associated issues of accuracy and standards.

  2. Environmental Control Unit Harness Project

    Science.gov (United States)

    Oliva-Buisson, Yvette J.

    2014-01-01

    Testing four new Environmental Control Unit Harnesses for improved user comfort during SCAPE operations. Phase I, testing in a lab environment, Phase II will continue testing the best candidates in a field environment.

  3. 77 FR 48542 - United States

    Science.gov (United States)

    2012-08-14

    ... litigation.'' United States v. Armour and Co., 402 U.S. 673, 681 (1971). Section 5 of the Clayton Act... relief in consent judgment that contained recitals in which defendants asserted their innocence); Armour...

  4. Dedicated education unit: student perspectives.

    Science.gov (United States)

    Nishioka, Vicki M; Coe, Michael T; Hanita, Makoto; Moscato, Susan R

    2014-01-01

    The study compared students' perceptions of their clinical learning experiences in a dedicated education unit (DEU) with their experiences in traditional clinical education. Unlike traditional academic-instructor models, expert nurses in the DEU provide clinical education to students with faculty support. This repeated measures design used student surveys, supplemented by focus group data. Students were more likely to agree that their clinical learning experience was high quality and they had a consistent mentoring relationship during DEU rotations. Students also reported the quality of the unit's learning environment, the leadership style of the nurse manager, and the nursing care on the unit was more favorable in DEUs than traditional units. Consistent with their changed role in DEUs, faculty members were less active in helping students integrate theory and practice. These findings provide additional evidence of the value that the DEU model contributes to high-quality clinical education.

  5. United States Strategy for Mexico

    National Research Council Canada - National Science Library

    Centner, Robert C

    2005-01-01

    The security and stability of Mexico is of national interest to the United States, and a strong, effective alliance between the two countries is pivotal to our national defense strategy and economic prosperity...

  6. Architecture of nuclear power units

    International Nuclear Information System (INIS)

    Malaniuk, B.

    1981-01-01

    Nuclear units with circulation cooling using cooling towers are dominating points of the landscape. The individual cooling towers or pairs of cooling towers should be situated in the axes of double units and should also linearly be arranged, rhythmically in the respective zone. Examples are shown of the architectural designs of several nuclear power plants in the USA, the UK, the USSR, France, the FRG and Italy. (H.S.)

  7. Management of planned unit outages

    International Nuclear Information System (INIS)

    Brune, W.

    1984-01-01

    Management of planned unit outages at the Bruno Leuschner Nuclear Power Plant is based on the experience gained with Soviet PWR units of the WWER type over a period of more than 50 reactor-years. For PWR units, planned outages concentrate almost exclusively on annual refuellings and major maintenance of the power plant facilities involved. Planning of such major maintenance work is based on a standardized basic network plan and a catalogue of standardized maintenance and inspection measures. From these, an overall maintenance schedule of the unit and partial process plans of the individual main components are derived (manually or by computer) and, in the temporal integration of major maintenance at every unit, fixed starting times and durations are determined. More than 75% of the maintenance work at the Bruno Leuschner Nuclear Power Plant is carried out by the plant's own maintenance personnel. Large-scale maintenance of every unit is controlled by a special project head. He is assisted by commissioners, each of whom is responsible for his own respective item. A daily control report is made. The organizational centre is a central office which works in shifts around the clock. All maintenance orders and reports of completion pass through this office; thus, the overall maintenance schedule can be corrected daily. To enforce the proposed operational strategy, suitable accompanying technical measures are required with respect to effective facility monitoring and technical diagnosis, purposeful improvement of particularly sensitive components and an increase in the effectiveness of maintenance work by special technologies and devices. (author)

  8. SI units in engineering and technology

    CERN Document Server

    Qasim, S H

    2016-01-01

    SI Units in Engineering and Technology focuses on the use of the International System of Units-Systeme International d'Unités (SI). The publication first elaborates on the SI, derivation of important engineering units, and derived SI units in science and engineering. Discussions focus on applied mechanics in mechanical engineering, electrical and magnetic units, stress and pressure, work and energy, power and force, and magnitude of SI units. The text then examines SI units conversion tables and engineering data in SI units. Tables include details on the sectional properties of metals in SI units, physical properties of important molded plastics, important physical constants expressed in SI units, and temperature, area, volume, and mass conversion. Tables that show the mathematical constants, standard values expressed in SI units, and Tex count conversion are also presented. The publication is a dependable source of data for researchers interested in the use of the International System of Units-Systeme Inter...

  9. 31 CFR 800.225 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 800.225 Section 800... TAKEOVERS BY FOREIGN PERSONS Definitions § 800.225 United States. The term United States or U.S. means the United States of America, the States of the United States, the District of Columbia, and any commonwealth...

  10. Nations United: The United Nations, the United States, and the Global Campaign Against Terrorism. A Curriculum Unit & Video for Secondary Schools.

    Science.gov (United States)

    Houlihan, Christina; McLeod, Shannon

    This curriculum unit and 1-hour videotape are designed to help students understand the purpose and functions of the United Nations (UN) and explore the relationship between the United Nations and the United States. The UN's role in the global counterterrorism campaign serves as a case study for the unit. The students are asked to develop a basic…

  11. Ecological units: definitions and application.

    Science.gov (United States)

    Jax, Kurt

    2006-09-01

    Concepts of ecological units, such as population, community, and ecosystem, are at the basis of ecological theory and research and have increasingly become the focus of conservation strategies. Concepts of these units still suffer from inconsistencies and confusions over terminology. The different concepts are treated here together as a common "conceptual cluster," with similar ecological functions (roles) and similar problems in their definition and use. An analysis of the multitude of existing terms and concepts that have been developed for these units reveals that they differ with respect to at least four basic criteria: (i) the questions as to whether they are defined statistically or via a network of interactions; (ii) if their boundaries are drawn by topographical or process-related criteria; (iii) how high the required internal relationships are; and (iv) if they are perceived as "real" entities or abstractions by an observer The various definitions cannot be easily sorted into just a few types, but they can be characterized by several independent criteria. I argue that serious problems arise if the different possibilities of defining ecological units are not recognized and if the concepts are perceived as self-evident. The different concepts of ecological units should be defined and used in a philosophically informed manner I propose a dual approach to the use of ecological units. Generic meanings of the main concepts (especially population, community, and ecosystem) should be retained only as heuristically useful perspectives, while specific and "operational" definitions of the concepts as units should be developed, depending on specific purposes of their use. Some thoughts on the basic requirements for such definitions and the domains of their uses are briefly explained.

  12. Application of Improved 5th-Cubature Kalman Filter in Initial Strapdown Inertial Navigation System Alignment for Large Misalignment Angles.

    Science.gov (United States)

    Wang, Wei; Chen, Xiyuan

    2018-02-23

    In view of the fact the accuracy of the third-degree Cubature Kalman Filter (CKF) used for initial alignment under large misalignment angle conditions is insufficient, an improved fifth-degree CKF algorithm is proposed in this paper. In order to make full use of the innovation on filtering, the innovation covariance matrix is calculated recursively by an innovative sequence with an exponent fading factor. Then a new adaptive error covariance matrix scaling algorithm is proposed. The Singular Value Decomposition (SVD) method is used for improving the numerical stability of the fifth-degree CKF in this paper. In order to avoid the overshoot caused by excessive scaling of error covariance matrix during the convergence stage, the scaling scheme is terminated when the gradient of azimuth reaches the maximum. The experimental results show that the improved algorithm has better alignment accuracy with large misalignment angles than the traditional algorithm.

  13. United Nations Peacekeeping: Issues for Congress

    National Research Council Canada - National Science Library

    Browne, Marjorie A

    2008-01-01

    A major issue facing the United Nations, the United States, and the 110th Congress is the extent to which the United Nations has the capacity to restore or keep the peace in the changing world environment...

  14. United Nations Peacekeeping: Issues for Congress

    National Research Council Canada - National Science Library

    Browne, Marjorie A

    2007-01-01

    A major issue facing the United Nations, the United States, and the 110th Congress is the extent to which the United Nations has the capacity to restore or keep the peace in the changing world environment...

  15. Mobile units to hydro geochemistry characterization

    International Nuclear Information System (INIS)

    Gomez, P.; Martinez, B.; Turrero, M.J.

    1994-01-01

    This report shows the mobile units for hydro geochemical studies. The authors analyze the work of mobile unit and the cars that conform the unit: Sampling car and analysis car: The sampling and equipment are took into account as well

  16. United Nations and Multilateralism: Appraising USA's Unilateralism ...

    African Journals Online (AJOL)

    DrNneka

    global peace and security, as well as the survival of the United Nations. This is because ... Key Words: United Nations, multilateralism, United States, unilateralism, national interest, UN Charter ..... Lebanon, Iraq, Turkey, Egypt, Jordan, etc.

  17. UNIT COMMITMENT: A NEW TRUNCATED METHOD OF UNIT ...

    African Journals Online (AJOL)

    NIJOTECH

    Data obtained from the National Electric Power Authority (NEPA) has been used to test the efficacy of this approach. ... every unit in the system must be respected. Some of these ..... Analysis of Power System Reliability. 2.Edwin K. W, Machat, ...

  18. Photovoltaic mounting/demounting unit

    DEFF Research Database (Denmark)

    2014-01-01

    The present invention relates to a photovoltaic arrangement comprising a photovoltaic assembly comprising a support structure defining a mounting surface onto which a photovoltaic module is detachably mounted; and a mounting/demounting unit comprising at least one mounting/demounting apparatus...... which when the mounting/demounting unit is moved along the mounting surface, causes the photovoltaic module to be mounted or demounted to the support structure; wherein the photovoltaic module comprises a carrier foil and wherein a total thickness of the photo voltaic module is below 500 muiotaeta....... The present invention further relates to an associated method for mounting/demounting photovoltaic modules....

  19. Organization of the POCT Unit.

    Science.gov (United States)

    Warade, Jayesh

    2015-03-01

    Point-of-care testing (POCT) has evolved as an important part of laboratory medicine by virtue of its compactness, portability, and the feasibility of operation by nonlaboratory personnel, where fast and accurate testing methods are a primary concern and, as a result, improving the patient care. To successfully achieve POCT quality in networks, a multidisciplinary organizational approach is required. A clearly defined organizational structure should be put in place for proper functioning and optimum utilization of each POCT unit. The POCT unit must include designated authority, responsibility, and accountability.

  20. The United Nations at 40

    International Nuclear Information System (INIS)

    1985-01-01

    The United Nations adopted a resolution expressing the hope that 1985 would mark the beginning of an era of durable and global peace and justice, social and economic development and progress and independence of all peoples. 1985 is the organization's 40th anniversary year - the United Nations Charter entered into force on 24 October 1945 - and the Assembly has chosen 'United Nations for a better world' as the anniversary theme. It also has decided to hold a brief commemorative session culminating on 24 October this year. Member States of the UN also have been urged to organize appropriate observance of the anniversary, with the widest possible participation, and to consider the creation of national committees to evaluate the contribution of the UN system over the past four decades, its continuing relevance in the current international situation, and ways in which it could be strengthened and made more effective. Among other things, the Assembly in its resolution appealed to the international mass media, both public and private, to contribute more effectively to dissemination of information on UN activities. During the commemorative session planned this October, a final document is expected to be adopted for which the Assembly has asked the Preparatory Committee for the Fortieth Anniversary of the United Nations to compose a suitable text. The Preparatory Committee had been established by the Assembly in 1983, and by December 1984, 98 countries had joined in its work, which relates to various activities

  1. Kitchen Units for the Classroom.

    Science.gov (United States)

    Illinois Univ., Urbana. Agricultural Experiment Station.

    This study is concerned with functional standards for storage of equipment, use of space, and arrangement of work centers in kitchen units for four students within a high school foods laboratory. Lists of equipment and measurements for storage areas are given for each work center. (FS)

  2. Norovirus in the United States

    Centers for Disease Control (CDC) Podcasts

    2013-09-09

    Dr. Aron Hall, a CDC epidemiologist specializing in norovirus, discusses the impact of norovirus in the United States.  Created: 9/9/2013 by National Center for Emerging and Zoonotic Infectious Diseases (NCEZID).   Date Released: 9/17/2013.

  3. Solar Renewable Energy. Teaching Unit.

    Science.gov (United States)

    Buchanan, Marion; And Others

    This unit develops the concept of solar energy as a renewable resource. It includes: (1) an introductory section (developing understandings of photosynthesis and impact of solar energy); (2) information on solar energy use (including applications and geographic limitations of solar energy use); and (3) future considerations of solar energy…

  4. Spherical Approximation on Unit Sphere

    Directory of Open Access Journals (Sweden)

    Eman Samir Bhaya

    2018-01-01

    Full Text Available In this paper we introduce a Jackson type theorem for functions in LP spaces on sphere And study on best approximation of  functions in  spaces defined on unit sphere. our central problem is to describe the approximation behavior of functions in    spaces for  by modulus of smoothness of functions.

  5. United States Navy DL Perspective

    Science.gov (United States)

    2010-08-10

    United States Navy DL Perspective CAPT Hank Reeves Navy eLearning Project Director 10 August 2010 Report Documentation Page Form ApprovedOMB No...Marine Corps (USMC) Navy eLearning Ongoing Shared with USMC, Coast Guard 9 NeL Help Site https://ile-help.nko.navy.mil/ile/ https://s-ile

  6. Victorian Era: An Interdisciplinary Unit.

    Science.gov (United States)

    Gildart, Donna Mae; And Others

    Seventh grade students studied the Victorian period using a 4-6 week interdisciplinary unit that integrated language arts, mathematics, art, science, social studies, music, home economics, parents, and business into the program. The main goals were to help students understand the importance of all curriculum subjects; comprehend how subjects are…

  7. Tractor Safety. Unit A-9.

    Science.gov (United States)

    Luft, Vernon D.; Backlund, Paul

    This document is a teacher's guide for a unit in tractor and machinery safety for college freshmen. It is intended to be used for 10 hours of instruction for freshmen who are intending to work on or around machinery. Safety hazards directly and indirectly related to many types of machinery are covered in addition to tractors. The objectives of the…

  8. Vapor generating unit blowdown arrangement

    International Nuclear Information System (INIS)

    McDonald, B.N.

    1978-01-01

    A vapor generating unit having a U-shaped tube bundle is provided with an orificed downcomer shroud and a fluid flow distribution plate between the lower hot and cold leg regions to promote fluid entrained sediment deposition in proximity to an apertured blowdown pipe

  9. Cholera in the United States

    Centers for Disease Control (CDC) Podcasts

    2011-11-08

    Anna Newton, Surveillance Epidemiologist at CDC, discusses cholera that was brought to the United States during an outbreak in Haiti and the Dominican Republic (Hispaniola).  Created: 11/8/2011 by National Center for Emerging and Zoonotic Infectious Diseases (NCEZID).   Date Released: 11/8/2011.

  10. The United Nations at 40

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1985-10-01

    The United Nations adopted a resolution expressing the hope that 1985 would mark the beginning of an era of durable and global peace and justice, social and economic development and progress and independence of all peoples. 1985 is the organization's 40th anniversary year - the United Nations Charter entered into force on 24 October 1945 - and the Assembly has chosen 'United Nations for a better world' as the anniversary theme. It also has decided to hold a brief commemorative session culminating on 24 October this year. Member States of the UN also have been urged to organize appropriate observance of the anniversary, with the widest possible participation, and to consider the creation of national committees to evaluate the contribution of the UN system over the past four decades, its continuing relevance in the current international situation, and ways in which it could be strengthened and made more effective. Among other things, the Assembly in its resolution appealed to the international mass media, both public and private, to contribute more effectively to dissemination of information on UN activities. During the commemorative session planned this October, a final document is expected to be adopted for which the Assembly has asked the Preparatory Committee for the Fortieth Anniversary of the United Nations to compose a suitable text. The Preparatory Committee had been established by the Assembly in 1983, and by December 1984, 98 countries had joined in its work, which relates to various activities.

  11. [Developments in medical units. 1915].

    Science.gov (United States)

    Fajardo-Ortiz, Guillermo

    2016-01-01

    In 1915 the political, economic, and social instability initiated the destruction of medical units; they had no administrative bases and they lacked the resources. However, needs encouraged that structures arose to meet the wounded, fractured, and traumatized, called “blood” hospitals and so-called crosses and sanitary trains.

  12. Genetic maps and physical units

    International Nuclear Information System (INIS)

    Karunakaran, V.; Holt, G.

    1976-01-01

    The relationships between physical and genetic units are examined. Genetic mapping involves the detection of linkage of genes and the measurement of recombination frequencies. The genetic distance is measured in map units and is proportional to the recombination frequencies between linked markers. Physical mapping of genophores, particularly the simple genomes of bacteriophages and bacterial plasmids can be achieved through heteroduplex analysis. Genetic distances are dependent on recombination frequencies and, therefore, can only be correlated accurately with physical unit lengths if the recombination frequency is constant throughout the entire genome. Methods are available to calculate the equivalent length of DNA per average map unit in different organisms. Such estimates indicate significant differences from one organism to another. Gene lengths can also be calculated from the number of amino acids in a specified polypeptide and relating this to the number of nucleotides required to code for such a polypeptide. Many attempts have been made to relate microdosimetric measurements to radiobiological data. For irradiation effects involving deletion of genetic material such a detailed correlation may be possible in systems where heteroduplex analysis or amino acid sequencing can be performed. The problems of DNA packaging and other functional associations within the cell in interpreting data is discussed

  13. "Mexico in Transition." Curriculum Units.

    Science.gov (United States)

    Oregon Univ., Eugene. Foreign Language Resource Center.

    These curriculum units were developed in a National Endowment for the Humanities 1994 summer seminar "Mexico in Transition." The 23 lessons are written in Spanish. Lessons are entitled: (1) "La Migracion Mexicana Vista a Traves del Cuento 'Paso del Norte' de Juan Rulfo" (Jose Jorge Armendariz); (2) "Los Grupos Indigenas de…

  14. Pentachlorophenol (PCP) sludge recycling unit

    International Nuclear Information System (INIS)

    1994-08-01

    The Guelph Utility Pole Company treats utility poles by immersion in pentachlorophenol (PCP) or by pressure treatment with chromated copper arsenate (CCA). The PCP treatment process involves a number of steps, each producing a certain amount of sludge and other wastes. In a plant upgrading program to improve processing and treatment of poles and to reduce and recycle waste, a PCP recovery unit was developed, first as an experimental pilot-scale unit and then as a full-scale unit. The PCP recovery unit is modular in design and can be modified to suit different requirements. In a recycling operation, the sludge is pumped through a preheat system (preheated by waste heat) and suspended solids are removed by a strainer. The sludge is then heated in a tank and at a predetermined temperature it begins to separate into its component parts: oil, steam, and solids. The steam condenses to water containing low amounts of light oil, and this water is pumped through an oil/water separator. The recovered oil is reused in the wood treatment process and the water is used in the CCA plant. The oil remaining in the tank is reused in PCP treatment and the solid waste, which includes small stones and wood particles, is removed and stored. By the third quarter of operation, the recovery unit was operating as designed, processing ca 10,000 gal of sludge. This sludge yielded 6,500 gal of water, 3,500 gal of oil, and ca 30 gal of solids. Introduction of the PCP sludge recycling system has eliminated long-term storage of PCP sludge and minimized costs of hazardous waste disposal. 4 figs

  15. United Nations opens gender coordinating unit for Afghanistan.

    Science.gov (United States)

    Morris, K

    1999-02-06

    The UN has created a gender coordinating unit for Afghanistan in an effort to combat some problems encountered by women and girls in the country. Reports continue to come in of women in Afghanistan being denied the right to work, to be educated, and to have access to medical care. The gap in education between men and women continues to widen as a result of edicts issued by Taliban authorities banning girls from attending formal schools and female teachers from working. The situation has grown worse since the UN and nongovernmental organizations (NGOs) withdrew international workers last year due to security concerns. Although a UN mission will travel to the country this week to discuss the return of international staff, the gender coordinating unit will for now have to work out of Islamabad, Pakistan. The unit will create guidelines for gender mainstreaming, a strategy in which mainstream policies and resource allocations are changed to reflect the principle of gender equality. Other goals include setting realistic objectives for gender activities, working with partners on pilot projects, and establishing minimum standards for best practices. MERLIN, a NGO with a primary health care program run by local staff in the Taliban-controlled province of Farah, welcomes the move.

  16. Qualification of package units; Qualifizierung von Package Units

    Energy Technology Data Exchange (ETDEWEB)

    Brombacher, M.; Walter, U. [Bayer AG, Leverkusen (Germany)

    1999-07-01

    The use of package units in pharmaceutical plants is increasing. If they are involved in the manufacture of pharmaceuticals and have an influence on the quality of the end product, the user is required to validate the processes used. Parallel to the growing demands with respect to the automation of these units, the importance of PCS equipment has increased and with this the necessity for its qualification. Experience to date shows that the manufacturer's awareness of these requirements can be heightened still further. This paper describes approaches for improving the present situation and should be interpreted not as criticism but as providing an opportunity to increase the knowledge base and work together to define solutions which satisfy the guidelines. (orig.) [German] Der Einsatz von Package Units in Pharma-Anlagen erfaehrt zunehmende Verbreitung. Wenn sie an der Herstellung von Arzneimitteln beteiligt sind und auf die Qualitaet des Endprodukts Einfluss nehmen, unterliegen sie der Validierungspflicht, die der Anwender zu gewaehrleisten hat. Entsprechend den wachsenden Anforderungen an die Automatisierung dieser Einheiten ist auch der Stellenwert der PLT-Ausruestung angestiegen und mit ihm die Notwendigkeit von deren Qualifizierung. Die bisherige Praxis zeigt, dass die Sensbilitaet der Hersteller diesen Anforderungen gegenueber noch besser entwickelt werden kann. Der Beitrag zeigt Wege auf, um die derzeitige Situation zu verbessern und sollte nicht als Kritik sondern als Chance aufgefasst werden, den Wissensstand auszugleichen und gemeinsam zu richtliniengerechten Loesungen zu kommen. (orig.)

  17. 7 CFR 1250.308 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1250.308 Section 1250.308 Agriculture... Research and Promotion Order Definitions § 1250.308 United States. United States means the 48 contiguous States of the United States of America and the District of Columbia. ...

  18. 31 CFR 598.317 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 598.317 Section 598.317 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... Definitions § 598.317 United States. The term United States means the United States, its territories and...

  19. 31 CFR 596.312 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 596.312 Section 596.312 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... General Definitions § 596.312 United States. The term United States means the United States, including its...

  20. 31 CFR 538.314 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 538.314 Section 538.314 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... § 538.314 United States. The term United States means the United States, its territories and possessions...

  1. 31 CFR 543.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 543.310 Section 543.310 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... Definitions § 543.310 United States. The term United States means the United States, its territories and...

  2. 31 CFR 542.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 542.310 Section 542.310 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF....310 United States. The term United States means the United States, its territories and possessions...

  3. 31 CFR 548.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 548.310 Section 548.310 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF....310 United States. The term United States means the United States, its territories and possessions...

  4. 7 CFR 65.255 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 3 2010-01-01 2010-01-01 false United States. 65.255 Section 65.255 Agriculture..., PEANUTS, AND GINSENG General Provisions Definitions § 65.255 United States. United States means the 50... United States. ...

  5. 31 CFR 546.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 546.310 Section 546.310 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF....310 United States. The term United States means the United States, its territories and possessions...

  6. 31 CFR 594.313 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 594.313 Section 594.313 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... Definitions § 594.313 United States. The term United States means the United States, its territories and...

  7. 31 CFR 588.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 588.310 Section 588.310 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... Definitions § 588.310 United States. The term United States means the United States, its territories and...

  8. 7 CFR 1206.23 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1206.23 Section 1206.23 Agriculture... INFORMATION Mango Promotion, Research, and Information Order Definitions § 1206.23 United States. United... Rico, and the territories and possessions of the United States. ...

  9. 31 CFR 536.315 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 536.315 Section 536.315 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... Definitions § 536.315 United States. The term United States means the United States, its territories and...

  10. 31 CFR 544.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 544.310 Section 544.310 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... REGULATIONS General Definitions § 544.310 United States. The term United States means the United States, its...

  11. 31 CFR 592.311 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 592.311 Section 592... § 592.311 United States. The term United States, when used in the geographic sense, means the several States, the District of Columbia, and any commonwealth, territory, or possession of the United States. ...

  12. 31 CFR 545.313 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 545.313 Section 545.313 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... Definitions § 545.313 United States. The term United States means the United States, its territories and...

  13. 7 CFR 1205.23 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1205.23 Section 1205.23 Agriculture... Procedures for Conduct of Sign-up Period Definitions § 1205.23 United States. The term United States means the 50 states of the United States of America. Procedures ...

  14. 31 CFR 595.314 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 595.314 Section 595.314 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... § 595.314 United States. The term United States means the United States, its territories and possessions...

  15. 31 CFR 586.318 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 586.318 Section 586...) KOSOVO SANCTIONS REGULATIONS General Definitions § 586.318 United States. The term United States means the United States, its territories and possessions, and all areas under the jurisdiction or authority...

  16. 31 CFR 537.318 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 537.318 Section 537.318 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF....318 United States. The term United States means the United States, its territories and possessions...

  17. 31 CFR 597.318 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 597.318 Section 597... General Definitions § 597.318 United States. The term United States means the United States, its territories, states, commonwealths, districts, and possessions, and all areas under the jurisdiction or...

  18. 31 CFR 560.307 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 560.307 Section 560.307 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... § 560.307 United States. The term United States means the United States, including its territories and...

  19. 7 CFR 1150.106 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 9 2010-01-01 2009-01-01 true United States. 1150.106 Section 1150.106 Agriculture... Order Definitions § 1150.106 United States. United States means the 48 contiguous States in the continental United States. ...

  20. 31 CFR 593.311 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 593.311 Section 593.311 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... REGULATIONS General Definitions § 593.311 United States. The term United States means the United States, its...

  1. 31 CFR 585.316 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 585.316 Section 585.316 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... General Definitions § 585.316 United States. The term United States means the United States, its...

  2. 31 CFR 575.319 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 575.319 Section 575.319 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF....319 United States. The term United States means the United States, its territories and possessions...

  3. 7 CFR 1212.31 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1212.31 Section 1212.31 Agriculture..., Consumer Education, and Industry Information Order Definitions § 1212.31 United States. “United States... territories and possessions of the United States. ...

  4. 31 CFR 539.312 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 539.312 Section 539.312 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... General Definitions § 539.312 United States. The term United States means the United States, its...

  5. 31 CFR 551.309 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 551.309 Section 551.309 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF....309 United States. The term United States means the United States, its territories and possessions...

  6. 7 CFR 1219.26 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1219.26 Section 1219.26 Agriculture..., AND INFORMATION Hass Avocado Promotion, Research, and Information Order Definitions § 1219.26 United States. United States means collectively the several 50 States of the United States, the District of...

  7. 31 CFR 587.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 587.310 Section 587...) MILOSEVIC SANCTIONS REGULATIONS General Definitions § 587.310 United States. The term United States means the United States, its territories and possessions, and all areas under the jurisdiction or authority...

  8. 31 CFR 541.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 541.310 Section 541.310 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... § 541.310 United States. The term United States means the United States, its territories and possessions...

  9. 22 CFR 120.13 - United States.

    Science.gov (United States)

    2010-04-01

    ... 22 Foreign Relations 1 2010-04-01 2010-04-01 false United States. 120.13 Section 120.13 Foreign... United States. United States, when used in the geographical sense, includes the several states, the Commonwealth of Puerto Rico, the insular possessions of the United States, the District of Columbia, the...

  10. 7 CFR 1205.313 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1205.313 Section 1205.313 Agriculture... Research and Promotion Order Definitions § 1205.313 United States. United States means the 50 States of the United States of America. [31 FR 16758, Dec. 31, 1966. Redesignated at 56 FR 64472, Dec. 10, 1991] ...

  11. 31 CFR 540.313 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 540.313 Section 540.313 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... REGULATIONS General Definitions § 540.313 United States. The term United States means the United States, its...

  12. 31 CFR 547.310 - United States.

    Science.gov (United States)

    2010-07-01

    ... 31 Money and Finance: Treasury 3 2010-07-01 2010-07-01 false United States. 547.310 Section 547.310 Money and Finance: Treasury Regulations Relating to Money and Finance (Continued) OFFICE OF... General Definitions § 547.310 United States. The term United States means the United States, its...

  13. Hanford Site waste management units report

    International Nuclear Information System (INIS)

    1993-04-01

    The Hanford Site Waste Management Units Report was originated to provide information responsive to Section 3004(u) of the Hazardous and Solid Waste Amendments of the 1984. This report provides a comprehensive inventory of all types of waste management units at the Hanford Site, including a description of the units and the waste they contain. Waste management units in the report include: (1) Resource Conservation and Recovery Act of 1976 (RCRA) disposal units, (2) Comprehensive Environmental Response, Compensation, and Liability Act of 1980 (CERCLA) disposal units, (3) unplanned releases, (4) inactive contaminated structures, (5) RCRA treatment, storage, and disposal (TSD) units, and (6) other storage areas. Because of the comprehensive nature of the units report, the list of units is more extensive than required by Section 3004(u) of Hazardous and Solid Waste Amendments of the 1984. In Sections 3.0 through 6.0 of this report, the four aggregate areas are subdivided into their operable units. The operable units are further divided into two parts: (1) those waste management units assigned to the operable unit that will be remediated as part of the Environmental Restoration Remedial Actions (ERRA) Program, and (2) those waste management units located within the operable unit boundaries but not assigned to the ERRA program. Only some operable unit sections contain the second part

  14. Legitimita demokratického režimu a jeho efektivita

    Czech Academy of Sciences Publication Activity Database

    Šafr, Jiří

    2005-01-01

    Roč. 3, 1-2 (2005), s. 21-23 ISSN 1214-1720 Institutional research plan: CEZ:AV0Z70280505 Keywords : Legitimacy * democracy * M. S. Lipset Subject RIV: AO - Sociology, Demography http://www.socioweb.cz

  15. Integration of IMU and Velodyne LiDAR sensor in an ICP-SLAM framework

    OpenAIRE

    Zhang, Erik

    2016-01-01

    Simultaneous localization and mapping (SLAM) of an unknown environment is a critical step for many autonomous processes. For this work, we propose a solution which does not rely on storing descriptors of the environment and performing descriptors filtering. Compared to most SLAM based methods this work with general sparse point clouds with the underlying generalized ICP (GICP) algorithm for point cloud registration. This thesis presents a modified GICP method and an investigation of how and i...

  16. Jelcinovo Rusko: Případová studie nejistého režimu

    Directory of Open Access Journals (Sweden)

    Jan Holzer

    2005-12-01

    Full Text Available The article aims at characterization of the political regime of post-soviet Russia in the 90´s from transitological perspective. The authors analyse the Russian political regime during Yeltsin´s rule with regard to several criteria: the character of „ancien regime”; the mode of transition; the position of the new regime on the axes of monism - limited pluralism and mobilisation – depolitization, according to the classical typology of J. J. Linz; the type of political leadership; the influence of international context on the transitional process. The principal aim is to help answer the question what type of political regime Yeltsin´s Russia represents. Besides the typology of J. J. Linz, the article uses methodologically various concepts of hybrid regimes.

  17. Low Cost Silicon Coriolis' Gyroscope Paves the Way to Consumer IMU

    Science.gov (United States)

    Vigna, Benedetto; Pasolini, Fabio; de Nuccio, Roberto; Capovilla, Macro; Prandi, Luciano; Biganzoli, Fabio

    During the last two years MEMS linear accelerometers have reinvented the way of playing a game, protecting your sensitive data on HDD, using your mobile devices smartly or making your washing machine less power hungry. Consumer and Industrial Markets have taken advantage from "The MEMS Consumerization Wave", driven by STMicroelectronics, which introduced a wide portfolio of two and three-axis motion sensors meeting customer requirements in terms of size, performances, quality and price.

  18. Real-Time Single-Frequency GPS/MEMS-IMU Attitude Determination of Lightweight UAVs

    Science.gov (United States)

    Eling, Christian; Klingbeil, Lasse; Kuhlmann, Heiner

    2015-01-01

    In this paper, a newly-developed direct georeferencing system for the guidance, navigation and control of lightweight unmanned aerial vehicles (UAVs), having a weight limit of 5 kg and a size limit of 1.5 m, and for UAV-based surveying and remote sensing applications is presented. The system is intended to provide highly accurate positions and attitudes (better than 5 cm and 0.5∘) in real time, using lightweight components. The main focus of this paper is on the attitude determination with the system. This attitude determination is based on an onboard single-frequency GPS baseline, MEMS (micro-electro-mechanical systems) inertial sensor readings, magnetic field observations and a 3D position measurement. All of this information is integrated in a sixteen-state error space Kalman filter. Special attention in the algorithm development is paid to the carrier phase ambiguity resolution of the single-frequency GPS baseline observations. We aim at a reliable and instantaneous ambiguity resolution, since the system is used in urban areas, where frequent losses of the GPS signal lock occur and the GPS measurement conditions are challenging. Flight tests and a comparison to a navigation-grade inertial navigation system illustrate the performance of the developed system in dynamic situations. Evaluations show that the accuracies of the system are 0.05∘ for the roll and the pitch angle and 0.2∘ for the yaw angle. The ambiguities of the single-frequency GPS baseline can be resolved instantaneously in more than 90% of the cases. PMID:26501281

  19. Wind Assessment for Aerial Payload Delivery Systems Using GPS and IMU Sensors

    Science.gov (United States)

    2016-09-01

    PWM_0_out = data_raw(:,59)-1000; % servo out [0,1000] Deflection_inches = ((PWM_0_out-1000*.94)/(0-1000*.94)*(9+9))-9; Servo_Current_A = data_raw(:,43...66.5; % Servo Current in Amps User_1 = data_raw(:,6); User_2 = data_raw(:,7); User_3 = data_raw(:,8); ground_speed = data_raw(:,23); yaw_rate...with Applications to Orbits, Aerospace, and Virtual Reality, Princeton: Princeton University Press , 1999. [15] Center for Interdisciplinary

  20. Postoj katolické církve k režimu ve Vichy

    OpenAIRE

    Jägerová, Julie

    2014-01-01

    Following thesis deals with relationship between the Catholic Church and a regime established in a part of France during the Second World War. The purpose of the thesis is to analyse main origins of attitude of the Catholic Church towards Vichy France. This attitude is generally considered to be positive. The thesis examines this question only on level of episcopacy. Other levels of possible research are knowingly omitted because of a limited extent of this text. The author emphasizes three m...

  1. Small satellite attitude determination based on GPS/IMU data fusion

    Energy Technology Data Exchange (ETDEWEB)

    Golovan, Andrey [Navigation and Control Laboratory, M.V. Lomonosov Moscow State University, GSP-1, Leninskie Gory, Moscow (Russian Federation); Cepe, Ali [Department of Applied Mechanics and Control, M.V. Lomonosov Moscow State University, Moscow (Russian Federation)

    2014-12-10

    In this paper, we present the mathematical models and algorithms that describe the problem of attitude determination for a small satellite using measurements from three angular rate sensors (ARS) and aiding measurements from multiple GPS receivers/antennas rigidly attached to the platform of the satellite.

  2. Waste management units - Savannah River Site

    International Nuclear Information System (INIS)

    1989-10-01

    This report is a compilation of worksheets from the waste management units of Savannah River Plant. Information is presented on the following: Solid Waste Management Units having received hazardous waste or hazardous constituents with a known release to the environment; Solid Waste Management Units having received hazardous waste or hazardous constituents with no known release to the environment; Solid Waste Management Units having received no hazardous waste or hazardous constituents; Waste Management Units having received source; and special nuclear, or byproduct material only

  3. Organization of Control Units with Operational Addressing

    OpenAIRE

    Alexander A. Barkalov; Roman M. Babakov; Larysa A. Titarenko

    2012-01-01

    The using of operational addressing unit as the block of control unit is proposed. The new structure model of Moore finite-state machine with reduced hardware amount is developed. The generalized structure of operational addressing unit is suggested. An example of synthesis process for Moore finite-state machine with operational addressing unit is given. The analytical researches of proposed structure of control unit are executed.

  4. Masturbation in the United States.

    Science.gov (United States)

    Das, Aniruddha

    2007-01-01

    Using data from the nationally representative National Health and Social Life Survey, this study queried the correlates of masturbation in the United States in 1992. Among those aged 18-60, 38% (CI, 35-41) of women and 61% (CI, 57-65) of men reported any masturbation over the preceding year. The system of factors underlying masturbation was similar for both genders, consistent with a convergence in gender patterns of sexual expression in the United States. Among both women and men, masturbation responded to a stable sexualized personality pattern, catalyzed by early-life factors and manifested in current sexual traits. Strikingly, the masturbation-partnered sex linkage, often conceptualized either as compensating for unsatisfying sex or complementing a satisfactory sex life, appeared to be bimodal for both genders. For some, masturbation complemented an active and pleasurable sex life, while among others, it compensated for a lack of partnered sex or satisfaction in sex.

  5. Units for radiation protection work

    International Nuclear Information System (INIS)

    Lindborg, L.

    1997-06-01

    ICRU has defined special measurable (operational) quantities for radiation protection. A consequence of using the operational quantities is that hand-held and personal dosemeters can give different measuring results in the same radiation situation. The differences vary and are caused by the geometry of the radiation field. The units have well documented relations to e.g. the ICRP effective dose and equivalent dose to an organ or tissue. Therefore, it is possible to estimate these doses from a measured value of e.g. the ambient dose equivalent. ICRU and ICRP have recently reviewed these relations in two important commonly issued reports (Report 57 and Publication 74). This report tries to show the value of understanding these units and their relations and is primarily meant to be used for educational purposes. 11 refs

  6. Optical programmable Boolean logic unit.

    Science.gov (United States)

    Chattopadhyay, Tanay

    2011-11-10

    Logic units are the building blocks of many important computational operations likes arithmetic, multiplexer-demultiplexer, radix conversion, parity checker cum generator, etc. Multifunctional logic operation is very much essential in this respect. Here a programmable Boolean logic unit is proposed that can perform 16 Boolean logical operations from a single optical input according to the programming input without changing the circuit design. This circuit has two outputs. One output is complementary to the other. Hence no loss of data can occur. The circuit is basically designed by a 2×2 polarization independent optical cross bar switch. Performance of the proposed circuit has been achieved by doing numerical simulations. The binary logical states (0,1) are represented by the absence of light (null) and presence of light, respectively.

  7. Phoenix's Wet Chemistry Laboratory Units

    Science.gov (United States)

    2008-01-01

    This image shows four Wet Chemistry Laboratory units, part of the Microscopy, Electrochemistry, and Conductivity Analyzer (MECA) instrument on board NASA's Phoenix Mars Lander. This image was taken before Phoenix's launch on August 4, 2007. The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  8. THE UNITED STATES EDUCATIONAL SYSTEM

    OpenAIRE

    David Suriñach Fernández

    2017-01-01

    The United States educational system is very complex. Due to the fact a big number of agents take play of its regulation, the differences between the education from one State compared to the education from another, or even between school districts, might be considerable. The last two largest federal education initiatives, No Child Left Behind and Race to the Top, have had a huge impact on the American education system. The escalation of the standardized test throughout the whole country as a ...

  9. The Uranium Chemistry Research Unit

    International Nuclear Information System (INIS)

    Anon.

    1983-01-01

    The article discusses the research work done at the Uranium Chemistry Research Unit of the University of Port Elizabeth. The initial research programme dealt with fundamental aspects of uranium chemistry. New uranium compounds were synthesized and their chemical properties were studied. Research was also done to assist the mining industry, as well as on nuclear medicine. Special mentioning is made of the use of technetium for medical diagnosis and therapy

  10. Eddy current tube testing unit

    International Nuclear Information System (INIS)

    Dufayet, J.P.; Duret, G.

    1975-01-01

    The unit described can check a wide variety of tubes in quick succession and its modular design gives it a high degree of versability. Suitably defined working conditions and specific fittings enable most of the faults encountered in the manufacture of a tube to be detected. By appropriate means of selection based on signal amplitude, phase and frequency analyses it is possible to adapt selection criteria to the seriousness of the different categories of defect [fr

  11. Environmental performance reviews: United States

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2006-01-15

    This book presents OECD assessments and recommendations regarding the United States' effort to manage its environment including air, water nature, and biodiversity to do this in a sustainable manner; and to do this in co-operation with its global neighbours. In particular, it assesses progress made since 1996, when OECD's previous review on the US was done. 40 figs., 21 tabs.

  12. Pricing decision-making units

    OpenAIRE

    R F&aauml;re; S Grosskopf; D Margaritis

    2013-01-01

    In this note we extend the standard DEA paradigm to address the question of how one can price DMUs (decision-making units). To do this we use an adjoint transformation to the technology generated by these DMUs which links to traditional linear programming theory of the firm and is similar to pricing portfolios in financial markets. We also provide a numerical example illustrating the practicality of the proposed method.

  13. Dixie Valley Bottoming Binary Unit

    Energy Technology Data Exchange (ETDEWEB)

    McDonald, Dale [Terra-Gen Sierra Holdings, LLC, Reno, NV (United States)

    2014-12-21

    This binary plant is the first air cooled, high-output refrigeration based waste heat recovery cycle in the industry. Its working fluid is environmentally friendly and as such, the permits that would be required with a hydrocarbon based cycle are not necessary. The unit is largely modularized, meaning that the unit’s individual skids were assembled in another location and were shipped via truck to the plant site. The Air Cooled Condensers (ACC), equipment piping, and Balance of Plant (BOP) piping were constructed at site. This project further demonstrates the technical feasibility of using low temperature brine for geothermal power utilization. The development of the unit led to the realization of low temperature, high output, and environmentally friendly heat recovery systems through domestic research and engineering. The project generates additional renewable energy, resulting in cleaner air and reduced carbon dioxide emissions. Royalty and tax payments to governmental agencies will increase, resulting in reduced financial pressure on local entities. The major components of the unit were sourced from American companies, resulting in increased economic activity throughout the country.

  14. United States National Seismographic Network

    International Nuclear Information System (INIS)

    Buland, R.

    1993-09-01

    The concept of a United States National Seismograph Network (USNSN) dates back nearly 30 years. The idea was revived several times over the decades. but never funded. For, example, a national network was proposed and discussed at great length in the so called Bolt Report (U. S. Earthquake Observatories: Recommendations for a New National Network, National Academy Press, Washington, D.C., 1980, 122 pp). From the beginning, a national network was viewed as augmenting and complementing the relatively dense, predominantly short-period vertical coverage of selected areas provided by the Regional Seismograph Networks (RSN's) with a sparse, well-distributed network of three-component, observatory quality, permanent stations. The opportunity finally to begin developing a national network arose in 1986 with discussions between the US Geological Survey (USGS) and the Nuclear Regulatory Commission (NRC). Under the agreement signed in 1987, the NRC has provided $5 M in new funding for capital equipment (over the period 1987-1992) and the USGS has provided personnel and facilities to develop. deploy, and operate the network. Because the NRC funding was earmarked for the eastern United States, new USNSN station deployments are mostly east of 105 degree W longitude while the network in the western United States is mostly made up of cooperating stations (stations meeting USNSN design goals, but deployed and operated by other institutions which provide a logical extension to the USNSN)

  15. Pickering Unit 1 chemical cleaning

    International Nuclear Information System (INIS)

    Smee, J.L.; Fiola, R.J.; Brennenstuhl, K.R.; Zerkee, D.D.; Daniel, C.M.

    1995-01-01

    The secondary sides of all 12 boilers at Pickering Unit 1 were chemically cleaned in 1994 by the team of Ontario Hydro, B and W International (Cambridge, Ontario) and B and W Nuclear Technologies (Lynchburg, Virginia). A multi-step EPRI/SGOG process was employed in a similar manner to previous clearings at Units 5 and 6 in 1992 and 1993, respectively. A major innovation with the Unit 1 cleaning was the incorporation of a crevice cleaning step, the first time this had been done on Ontario Hydro plants. In addition, six boilers were cleaned in parallel compared to three at a time in previous Pickering cleanings. This significantly reduced cleaning time. A total of 6,770 kg of sludge was removed through direct chemical dissolution. It consisted of 66% iron/nickel oxides and 28% copper metal. A total of 1,600,000 L (420,000 US gallons) of liquid waste was produced. It was processed through the spent solvent treatment facility located at the Bruce Nuclear Power Development site. Visual inspection performed after the cleaning indicated that the crevices between the boiler tubes and the tube support structure were completely clear of deposit and the general condition of the tubing and lattice bars appeared to be in 'as new' condition. (author)

  16. Measurement units of physical values

    International Nuclear Information System (INIS)

    Debraine, P.

    1955-01-01

    The aim of this paper is twofold: 1) to give an analysis of the formation conditions of the various systems of units, 2) to show how the practical problems involving changes of units can be solved. This analysis leads to the conception of 'types' of systems, which is very useful to clarity the question of rationalized and non rationalized systems. The second point which consists essentially in: 1) finding the relationship between the measures of a given quantity in different systems, 2) deriving practical formulas, 3) deriving formulas in various 'types' of systems, is made easier by use of sets of: * definition formulas, * transformation formulas, * units of the various practical systems with useful numerical information covering the following fields: ** geometry, ** kinematics, ** mechanics, ** electricity and magnetism, ** thermodynamics, ** radiation, ** photometry, These sets being printed on coloured paper can be easily found. A number of numerical examples (21) show in a detailed way how to solve the various problems likely to occur. A chapter is particularly devoted to the Giorgi MKS system. (author) [fr

  17. Low cost balancing unit design

    Science.gov (United States)

    Golembiovsky, Matej; Dedek, Jan; Slanina, Zdenek

    2017-06-01

    This article deals with the design of a low-cost balancing system which consist of battery balancing units, accumulator pack units and coordinator unit with interface for higher level of battery management system. This solution allows decentralized mode of operation and the aim of this work is implementation of controlling and diagnostic mechanism into an electric scooter project realized at Technical university of Ostrava. In todays world which now fully enjoys the prime of electromobility, off-grid battery systems and other, it is important to seek the optimal balance between functionality and the economy side of BMS that being electronics which deals with secondary cells of batery packs. There were numerous sophisticated, but not too practical BMS models in the past, such as centralized system or standalone balance modules of individual cells. This article aims at development of standalone balance modules which are able to communicate with the coordinator, adjust their parameters and ensure their cells safety in case of a communication failure. With the current worldwide cutting cost trend in mind, the emphasis was put on the lowest price possible for individual component. The article is divided into two major categories, the first one being desing of power electronics with emphasis on quality, safety (cooling) and also cost. The second part describes development of a communication interface with reliability and cost in mind. The article contains numerous graphs from practical measurements. The outcome of the work and its possible future is defined in the conclusion.

  18. Strategic renewal for business units.

    Science.gov (United States)

    Whitney, J O

    1996-01-01

    Over the past decade, business units have increasingly taken the role of strategy formulation away from corporate headquarters. The change makes sense: business units are closer to customers, competitors, and costs. Nevertheless, business units can fail, just as headquarters once did, by losing their focus on the organization's priorities and capabilities. John Whitney--turnaround expert and professor of management at Columbia University--offers a method for refocusing companies that he calls the strategic-renewal process. The principles behind the process are straightforward, but its execution demands extensive data, rigorous analysis, and the judgment of key decision makers. However, when applied with diligence, it can produce a strategy that yields both growth and profit. To carry out the process, managers must analyze, one by one or in logical groupings, the company's customers, the products it sells, and the services it offers in light of three criteria: strategic importance, significance, and profitability. Does a given customer, product, or service mesh with the organization's goals? Is it significant in terms of current and future revenues? And is it truly profitable when all costs are care fully considered? Customers, products, and services that do not measure up, says the author, must be weeded out relentlessly. Although the process is a painstaking one, the article offers clear thinking on why-and how-to go about it. A series of exhibits takes managers through the questions they need to raise, and two matrices offer Whitney's concentrated wisdom on when to cultivate--and when to prune.

  19. High pressure gas reinjection unit

    Energy Technology Data Exchange (ETDEWEB)

    1976-03-01

    Nuovo Pignone has built for gas reinjection at Ekofisk the highest pressure injection unit to date: suction pressure 246 bar, discharge 647 bar, for 5.7 million cu m/day of natural gas, and driven by a GE MS 5001 gas turbine of 24,000 hp. The barrel-type compressor has been used already in Algeria at Hassi Messaoud. Full scale tests have shown that the unit is satisfactory; special attention being paid to the stability of the rotor. Air cooled heat exchangers were used in the test loop to cool the discharge gas; at Ekofisk, heat exchangers with sea water will be used. The valves in the test loop were of a special, low- noise type. Vibrations of the rotor system and changes in gas pressure monitored, showing that a pressure of 680 bars can be achieved without instability. Economic considerations lead to preference for rotary compressors driven by gas turbines for similar applications in the exploitation of oil fields. A graph of the characteristics of the unit is given.

  20. Coin sorting unit; Koka ikkatsu tonyu shori unit

    Energy Technology Data Exchange (ETDEWEB)

    Oyabu, H.; Nishiyama, T.; Iijima, S. [Fuji Electric Co. Ltd., Tokyo (Japan)

    1999-08-10

    There are promising demands for barrier-free vending machines which can easily be used by the aged and the handicapped as well as ordinary people. Fuji Electric had developed an advanced unit for throwing in coins for the new hearty series that can smoothly be used by the aged and the handicapped. Its main advantages are (1) two or more coins can be thrown in together, (2) The port for putting in coins and the port for taking out change are of unified construction and simply adjoin each other, (3) Directional signs in braille are added. (author)

  1. Hanford Site waste management units report

    International Nuclear Information System (INIS)

    1993-04-01

    The Hanford Site Waste Management Units Report was originated to provide information responsive to Section 3004(u) of the Hazardous and Solid Waste Amendments of the 1984. This report provides a comprehensive inventory of all types of waste management units at the Hanford Site, including a description of the units and the waste they contain. Waste management units in the report include: (1) Resource Conservation and Recovery Act of 1976 (RCRA) disposal units, (2) Comprehensive Environmental Response, Compensation, and Liability Act of 1980 (CERCLA) disposal units, (3) unplanned releases, (4) inactive contaminated structures, (5) RCRA treatment, storage, and disposal (TSD) units, and (6) other storage areas. Because of the comprehensive nature of the units report, the list of units is more extensive than required by Section 3004(u) of Hazardous and Solid Waste Amendments of the 1984. In Sections 3.0 through 6.0 of this report, the four aggregate areas are subdivided into their operable units. The operable units are further divided into two parts: (1) those waste management units assigned to the operable unit that will be remediated as part of the Environmental Restoration Remedial Actions (ERRA) Program, and (2) those waste management units located within the operable unit boundaries but not assigned to the ERRA program. Only some operable unit sections contain the second part.Volume two contains Sections 4.0 through 6.0 and the following appendices: Appendix A -- acronyms and definition of terms; Appendix B -- unplanned releases that are not considered to be units; and Appendix C -- operable unit maps

  2. Uniting to prevent unwanted pregnancies.

    Science.gov (United States)

    Lynch, D

    1994-02-18

    In reading the column of Cal Thomas entitled "Speaking Truth to Power" it becomes clear that the forces aligned against each other on the issue of reproductive choice should work together in order to reduce the number of unwanted pregnancies. An estimated 400 million women are unable to limit their family size for economic reasons. More are inhibited by social or religious constraints. When family planning (FP) services are available, and the status and education levels of women are raised, abortion rates decrease. This is demonstrated in the Netherlands, where legal abortions and contraception are available. The abortion rate is less than 5/1000 women there, one of the lowest worldwide. Latin America, where abortion is illegal and FP services are lacking, has abortion rates of 30-60/1000. Furthermore, these illegal abortions usually have a tragic effect on the woman's health. Of an estimated 6 million pregnancies annually in the United States, approximately half are unintended. Of these, about 1.6 million are aborted. Of the women in the United States who become pregnant annually, 82% are unmarried, 25% are under 20 years of age, and 33% make less than $11,000 yearly. If industrialized nations made contraceptives and FP services available to the poor worldwide, the quality of life on earth would increase. Human misery, anarchy, and resource depletion would decrease. State and local governments should increase support of domestic FP activities, while the federal government should raise its funding of international FP services. In order to reach the goals set by the 1989 Amsterdam Declaration, which was signed by the US, the annual contribution of the United States needs to be doubled. 4% of the US foreign aid budget, $720 million, is less than 0.1% of its $1.5 trillion budget. This amounts to less than $3 per US citizen.

  3. SIRU utilization. Volume 1: Theory, development and test evaluation

    Science.gov (United States)

    Musoff, H.

    1974-01-01

    The theory, development, and test evaluations of the Strapdown Inertial Reference Unit (SIRU) are discussed. The statistical failure detection and isolation, single position calibration, and self alignment techniques are emphasized. Circuit diagrams of the system components are provided. Mathematical models are developed to show the performance characteristics of the subsystems. Specific areas of the utilization program are identified as: (1) error source propagation characteristics and (2) local level navigation performance demonstrations.

  4. Entomology Unit annual report 2003

    International Nuclear Information System (INIS)

    2003-01-01

    As described in the 2002 Annual Report an improved medfly genetic sexing strain (GSS) was developed, VIENNA 8. This strain shows improved production characteristics and will have a major impact on the production efficiency in SIT rearing facilities. During 2003 this strain was transferred to four rearing facilities in Guatemala, Peru, South Africa and Tunisia based on acceptable QC data developed for the strain in the Unit. For the first time the strain was transferred to the different facilities under an agreement that prevents further distribution to third parties without consent of the Unit. In the past, strains originating from the Unit have been freely exchanged within the medfly SIT community, sometimes with not always the best results. During 2003 there has been a substantial increase in the resources devoted to activities in fruit flies other than medfly e.g. Bactrocera oleae and Anastrepha fraterculus. Rearing of the olive fly, B. oleae has traditionally not been straightforward due to the very specific, and expensive, larval diet that is required by this monophagous pest. With the disappearance of an essential larval diet component from the commercial market an urgent search is underway for an alternative. In 2004, experiments will be carried out to identify improved larval diets. For A. fraterculus, a large-scale evaluation of mating compatibility between different geographical races has been carried out by a consultant. Progress has been made in the containerised rearing of tsetse fly colonies. The container required considerable work before the temperature and humidity controls were suitable for tsetse rearing and a closed colony of Glossina fuscipes is now being reared. Discussions are now underway to install a version of TPU 3.2 (an automated tsetse feeding and production unit) in the container. A protocol for the handling, irradiation and eventual release of large numbers of sterile male tsetse has been formulated and it will involve at least two

  5. Optics in the United kingdom.

    Science.gov (United States)

    Ditchburn, R W

    1969-10-01

    Optics is interpreted to include x-ray optics, electronic optics, and short wave radiooptics as well as the more conventional visible, uv, and ir optics. Recent work in Britain on x-ray optics (applied to molecular biology), on scanning electron microscopy, and in radioastronomy (discovery of pulsars) is mentioned. In the optics of the visible and ir there is an increasing interest in over-all systems design. .The formation of large industrial units capable of carrying through major design program, requiring advanced mechanical and electronic design associated with new lens systems, is welcomed.

  6. Graphs with Eulerian unit spheres

    OpenAIRE

    Knill, Oliver

    2015-01-01

    d-spheres in graph theory are inductively defined as graphs for which all unit spheres S(x) are (d-1)-spheres and that the removal of one vertex renders the graph contractible. Eulerian d-spheres are geometric d-spheres which are d+1 colorable. We prove here that G is an Eulerian sphere if and only if the degrees of all the (d-2)-dimensional sub-simplices in G are even. This generalizes a Kempe-Heawood result for d=2 and is work related to the conjecture that all d-spheres have chromatic numb...

  7. Enhanced Master Controller Unit Tester

    Science.gov (United States)

    Benson, Patricia; Johnson, Yvette; Johnson, Brian; Williams, Philip; Burton, Geoffrey; McCoy, Anthony

    2007-01-01

    The Enhanced Master Controller Unit Tester (EMUT) software is a tool for development and testing of software for a master controller (MC) flight computer. The primary function of the EMUT software is to simulate interfaces between the MC computer and external analog and digital circuitry (including other computers) in a rack of equipment to be used in scientific experiments. The simulations span the range of nominal, off-nominal, and erroneous operational conditions, enabling the testing of MC software before all the equipment becomes available.

  8. Loviisa Unit One: Annealing - healing

    Energy Technology Data Exchange (ETDEWEB)

    Kohopaeae, J.; Virsu, R. [ed.; Henriksson, A. [ed.

    1997-11-01

    Unit 1 of the Loviisa nuclear powerplant was annealed in connection with the refuelling outage in the summer of 1996. This type of heat treatment restored the toughness properties of the pressure vessel weld, which had been embrittled be neutron radiation, so that it is almost equivalent to a new weld. The treatment itself was an ordinary metallurgical procedure that took only a few days. But the material studies that preceded it began over fifteen years ago and have put IVO at the forefront of world-wide expertise in the area of radiation embrittlement

  9. Multi-Unit Initiating Event Analysis for a Single-Unit Internal Events Level 1 PSA

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Dong San; Park, Jin Hee; Lim, Ho Gon [KAERI, Daejeon (Korea, Republic of)

    2016-05-15

    The Fukushima nuclear accident in 2011 highlighted the importance of considering the risks from multi-unit accidents at a site. The ASME/ANS probabilistic risk assessment (PRA) standard also includes some requirements related to multi-unit aspects, one of which (IE-B5) is as follows: 'For multi-unit sites with shared systems, DO NOT SUBSUME multi-unit initiating events if they impact mitigation capability [1].' However, the existing single-unit PSA models do not explicitly consider multi-unit initiating events and hence systems shared by multiple units (e.g., alternate AC diesel generator) are fully credited for the single unit and ignores the need for the shared systems by other units at the same site [2]. This paper describes the results of the multi-unit initiating event (IE) analysis performed as a part of the at-power internal events Level 1 probabilistic safety assessment (PSA) for an OPR1000 single unit ('reference unit'). In this study, a multi-unit initiating event analysis for a single-unit PSA was performed, and using the results, dual-unit LOOP initiating event was added to the existing PSA model for the reference unit (OPR1000 type). Event trees were developed for dual-unit LOOP and dual-unit SBO which can be transferred from dual- unit LOOP. Moreover, CCF basic events for 5 diesel generators were modelled. In case of simultaneous SBO occurrences in both units, this study compared two different assumptions on the availability of the AAC D/G. As a result, when dual-unit LOOP initiating event was added to the existing single-unit PSA model, the total CDF increased by 1∼ 2% depending on the probability that the AAC D/G is available to a specific unit in case of simultaneous SBO in both units.

  10. Chapter 2. The production units

    International Nuclear Information System (INIS)

    1998-01-01

    In the second chapter of this CD ROM the production units of the Slovak Electric, Plc. (Slovenske elektrarne, a.s.), are presented. It consist of next paragraphs: (1) Nuclear power plants (A-1 Nuclear Power Plant (History, Technological scheme, basic data are presented); V-1, V-2 Bohunice Nuclear Power Plant (History 1972-1985, technological scheme; nuclear safety, radiation protection, heat supply, international co-operation and basic data are presented); Mochovce Nuclear Power Plant (History 1980-1998, technological scheme, construction completion, milestones of commissioning, safety and environmental protection as well as basic data are included). (2) Conventional sources of energy (Vojany fossil power plant (History 1959-1992, Technological units of power plant, Impact of operation on the environment, Plant of Vojany FPP Renewal and Reconstruction, Basic data are listed), Novaky fossil power plant (History 1949-1998, Technological scheme, current investment construction, basic data, Handlova heating plant). Kosice Combined Heat Power Plant (History 1960-1995, technological scheme, State metrology centre, acredited chemical laboratory, basic data). (3) Hydroelectric power plants (Trencin HPPs: Cierny Vah pumped storage HPP, Liptovska Mara HPP, Orava HPP, Sucany HPP, Miksova HPP, Nosice HPP, Velke Kozmalovce HPP, Gabcikovo HPP, Dubnica HPP, Nove Mesto n/V HPP, Madunice HPP, Kralova HPP) and Dobsina HPPs: (Dobsina HPP, Ruzin HPP, Domasa HPP, small HPPs) are presented

  11. Are environmental scanning units effective?

    Science.gov (United States)

    Stubbart, C

    1982-06-01

    Many authorities have urged companies to set up environmental scanning to assist corporate planning. Some advocates have recommended a unit at corporate level. This would give breadth of view and penetration into the future. It would arm decision makers with accurate forecasts. The information would be broad in scope and future directed. It could provide also assumptions for long-range planning. The Fahey and King study produced a model of corporate scanning types. The data showed that environmental information was built into the plan. Though the political environment was important, scanning was inadequate. The best location for scanning was not at corporate level and most firms used irregular methods. The Thomas study concluded that effective environmental scanning was permanent and multi level and that 'best practice' was continuous scanning. In 1978 the sample organizations were revisited. Five of the twelve have not changed their practice. The factors which encouraged a continuous model were the attitudes of academics and business media, demonstrated success of the units, the right kind of personnel. Contrary influences were changes in top management, decentralization moves, resource cuts, defining the environment and its significance, the availability of scanning competent personnel, surprise itself, and the availability of alternatives e.g. external forecasts.

  12. East Carnduff Unit: corrosion problems

    Energy Technology Data Exchange (ETDEWEB)

    Banks, C D

    1966-07-01

    Waterflooding of the East Carnduff Unit began in late 1962. The first injection line leak was discovered April 29, 1965. The first 6 leaks in the East Carnduff Unit occurred within a period of less than one month--a very startling and serious warning of pending problems. Analysis of the pipe removed showed a deep pit covered by a severe scale in the piping fitting. Several remedial actions were tried in order to develop the present inhibition program. First, the lines were cleaned as well as possible utilizing rubber pig spheres with normal injection pressure. This proved very effective and 2 passes wiped out most of the scale in the lines. Only one line required acid. After the lines had been cleaned, a water treating rate of an organic amine corrosion inhibitor, 10 ppm of the scale inhibitor, and bactericide at the rate of 40 ppm slugs 2 days per month was initiated. The above treating program is in use at the present time and is maintaining a very low leak frequency. This experience has demonstrated 2 important points in waterflood operations: (1) a bare piping system in warm brine service requires constant attention to insure that it is being kept clean; and (2) reliance cannot be placed on any one method of checking corrosion rates.

  13. Devolution in the United Kingdom

    Directory of Open Access Journals (Sweden)

    Marković Ratko

    2014-01-01

    Full Text Available Devolution is a transfer of the legislative powers of the Westminster Parliament to the parliaments of the historical provinces once united with England into the United Kingdom, which are directly elected by the provincial population. That delegation is asymmetrical and revocable, but it does not affect the basic norms of the British unwritten constitution on parliamentary supremacy. Over the devolution the provinces do not acquire the primary competence, but the one that is given to them by the transfer of the legislative powers of the Westminster Parliament. A special law retaining the Westminster Parliament's primary competence and sovereignty grants this competence. Regarding the scope of the devolved powers of the provinces and the organizational mechanism for their execution, there is a significant asymmetry. In all the provinces, there is a unique junction between devolved powers and their holders. Before the referendum on the independence in Scotland in September 2014, the increase of devolved powers was promised not only for all the historical provinces (Scotland, Wales, Northern Ireland, but for England as well, which represents a step towards the federalization of the UK. Devolution and several other institutions of the British constitution also, have a stamp 'Made in Britain' which does not allow easy imitation and transfer to another countries and their constitutions.

  14. Equivalent unit in telecommunications services

    Directory of Open Access Journals (Sweden)

    Luiza Santangelo Reis

    2016-03-01

    Full Text Available The aim of this study is to analyze the relationship between the “cost” and “production” variables in a telecommunications company, measuring the latter in the unit of measure termed Network Units (NU.  The study shows a Pearson correlation coefficient of 0.55 -evaluated as moderate - over the course of a 24-month period and resulting from 177 trials.  Subsequently, only the work teams composed of the company´s standard structure were taken into consideration, which yielded 32 observations of interest and a derived correlation coefficient of 0.8.  Finally, the data pertaining to each individual work team over a determined length of time was analyzed, showing strong correlation coefficients in seven of the eleven, and in the remainder, a moderate linear relationship between the variables analyzed.  These results suggest the viability of applying the NU production measurement model in the telecommunications company in question

  15. Teen Pregnancy in the United States

    Science.gov (United States)

    ... United States: the contribution of abstinence and improved contraceptive use. Am J Public Health. 2007;97(1):150-6. Lindberg LD, Santelli JS, Desai, S. Understanding the Decline in Adolescent Fertility in the United States, 2007–2012. J ...

  16. 76 FR 66845 - United Nations Day, 2011

    Science.gov (United States)

    2011-10-27

    ... become ever more intertwined, the leadership, staff, and member states of the United Nations continue to... a time of dramatic political transformation, the United Nations can embrace democratic movements and...

  17. 16-channel analog store and multiplexer unit

    Energy Technology Data Exchange (ETDEWEB)

    Brossard, M; Kulka, Z [Clermont-Ferrand-2 Univ., 63 - Aubiere (France). Lab. de Physique Corpusculaire

    1979-03-15

    A 16-channel analog store and multiplexer unit is described. The unit enables storing and selection of analog information which is then digitally encoded by single ADC. This solution becomes economically attractive particularly in multidetector pulse height analysis systems.

  18. Coordinator, Evaluation Unit | IDRC - International Development ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    Job Summary The Evaluation Unit Coordinator is expected to: ... with Centre policies and procedures and disseminates information to Unit staff on changes ... Coordinates the planning and organization of technical and administrative meetings ...

  19. Order units in a C-algebra

    Indian Academy of Sciences (India)

    Abstract. Order unit property of a positive element in a *-algebra is defined. It is proved that precisely projections satisfy this order theoretic property. This way, unital hereditary *-subalgebras of a *-algebra are characterized.

  20. Labour of love yields new maternity unit.

    Science.gov (United States)

    2012-01-01

    Birmingham's City Hospital's new maternity unit is an inspiring departure from conventional units. Contemporary design and the latest technology combine to give mothers a safe, yet relaxed, environment in which to give birth. HEJ reports.

  1. Fatigue in Breakwater Concrete Armour Units

    DEFF Research Database (Denmark)

    Burcharth, Hans F.

    The reliability of rubble mound breakwaters depends on the hydraulic stability and the mechanical strength of the armour units. The paper deals with the important aspect of fatigue related to the strength of concrete armour units.......The reliability of rubble mound breakwaters depends on the hydraulic stability and the mechanical strength of the armour units. The paper deals with the important aspect of fatigue related to the strength of concrete armour units....

  2. Vehicle with inclinable caterpillar propulsion units

    International Nuclear Information System (INIS)

    Clar, G.

    1991-01-01

    This vehicle usable in hostile environment such nuclear industry has four propulsion units with a caterpillar track and two integrated motors: one for advancing the caterpillar track and the other for inclining the propulsion unit when overcoming obstacles. Each propulsion unit is easily replaceable because there are no mechanical parts in the body of the vehicle [fr

  3. 24 CFR 970.31 - Replacement units.

    Science.gov (United States)

    2010-04-01

    ... 24 Housing and Urban Development 4 2010-04-01 2010-04-01 false Replacement units. 970.31 Section... PUBLIC HOUSING PROGRAM-DEMOLITION OR DISPOSITION OF PUBLIC HOUSING PROJECTS § 970.31 Replacement units. Notwithstanding any other provision of law, replacement public housing units may be built on the original public...

  4. Oil Vulnerabilities and United States Strategy

    Science.gov (United States)

    2007-02-08

    Mazda, Mercedes - Benz , Ford, Mercury, and Nissan offer flexible fuel vehicles in the United States. Ethanol is currently produced in the United States...USAWC STRATEGY RESEARCH PROJECT OIL VULNERABILITIES AND UNITED STATES STRATEGY by Colonel Shawn P. Walsh...Colleges and Schools, 3624 Market Street, Philadelphia, PA 19104, (215) 662-5606. The Commission on Higher Education is an institutional accrediting

  5. 7 CFR 1215.20 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1215.20 Section 1215.20 Agriculture Regulations of the Department of Agriculture (Continued) AGRICULTURAL MARKETING SERVICE (MARKETING AGREEMENTS... United States. United States means all of the States. Popcorn Board ...

  6. 7 CFR 1260.108 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1260.108 Section 1260.108 Agriculture Regulations of the Department of Agriculture (Continued) AGRICULTURAL MARKETING SERVICE (MARKETING AGREEMENTS... Promotion and Research Order Definitions § 1260.108 United States. United States means the 50 States and the...

  7. 7 CFR 1280.127 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1280.127 Section 1280.127 Agriculture... INFORMATION ORDER Lamb Promotion, Research, and Information Order Definitions § 1280.127 United States. United States means collectively the 50 States and the District of Columbia. ...

  8. 7 CFR 1210.315 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1210.315 Section 1210.315 Agriculture... PLAN Watermelon Research and Promotion Plan Definitions § 1210.315 United States. United States means each of the several States and the District of Columbia. [60 FR 10797, Feb. 28, 1995] National...

  9. 7 CFR 1221.32 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1221.32 Section 1221.32 Agriculture... INFORMATION ORDER Sorghum Promotion, Research, and Information Order Definitions § 1221.32 United States. United States or U.S. means collectively the 50 States, the District of Columbia, the Commonwealth of...

  10. 7 CFR 1216.30 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1216.30 Section 1216.30 Agriculture... INFORMATION ORDER Peanut Promotion, Research, and Information Order Definitions § 1216.30 United States. United States means collectively the 50 states, the District of Columbia, the Commonwealth of Puerto Rico...

  11. 7 CFR 1218.22 - United States.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false United States. 1218.22 Section 1218.22 Agriculture... INFORMATION ORDER Blueberry Promotion, Research, and Information Order Definitions § 1218.22 United States. United States means collectively the 50 states, the District of Columbia, the Commonwealth of Puerto Rico...

  12. SPOKEN CUZCO QUECHUA, UNITS 1-6.

    Science.gov (United States)

    SOLA, DONALD F.; AND OTHERS

    THE MATERIALS IN THIS VOLUME COMPRISE SIX UNITS WHICH PRESENT BASIC ASPECTS OF CUZCO QUECHUA PHONOLOGY, MORPHOLOGY, AND SYNTAX FOR THE BEGINNING STUDENT. THE SIX UNITS ARE DESIGNED FOR APPROXIMATELY 120 HOURS OF SUPERVISED CLASS WORK WITH OUTSIDE PREPARATION EXPECTED OF THE STUDENT. EACH UNIT CONSISTS OF A DIALOGUE TO BE MEMORIZED, A DIALOGUE…

  13. United Nations and multilateralism: appraising USA's unilateralism ...

    African Journals Online (AJOL)

    Multilateralism as symbolized by the United Nations Organization, seems to have come under threat today, and nowhere is this more evident than in the United States-United Nations relations particularly in the area of military interventions around the world. The aim of this paper is to appraise the practice of the principle of ...

  14. Ecological units of the Northern Region: Subsections

    Science.gov (United States)

    John A. Nesser; Gary L. Ford; C. Lee Maynard; Debbie Dumroese

    1997-01-01

    Ecological units are described at the subsection level of the Forest Service National Hierarchical Framework of Ecological Units. A total of 91 subsections are delineated on the 1996 map "Ecological Units of the Northern Region: Subsections," based on physical and biological criteria. This document consists of descriptions of the climate, geomorphology,...

  15. Image processing unit with fall-back.

    NARCIS (Netherlands)

    2011-01-01

    An image processing unit ( 100,200,300 ) for computing a sequence of output images on basis of a sequence of input images, comprises: a motion estimation unit ( 102 ) for computing a motion vector field on basis of the input images; a quality measurement unit ( 104 ) for computing a value of a

  16. Unit area control in California forests

    Science.gov (United States)

    William E. Hallin

    1951-01-01

    There is a definite distinction between the basic concept of unit area control and the specific techniques or treatments used for specific units. Unit area control as a term was first used in connection with a cutting trial in the sugar pine-fir type; consequently, many foresters think the term refers merely to the technique used in sugar pine management, This is not...

  17. 12 CFR 541.10 - Dwelling unit.

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 5 2010-01-01 2010-01-01 false Dwelling unit. 541.10 Section 541.10 Banks and... FEDERAL SAVINGS ASSOCIATIONS § 541.10 Dwelling unit. The term dwelling unit means the unified combination of rooms designed for residential use by one family, other than a single-family dwelling. ...

  18. Malaria Surveillance - United States, 2015.

    Science.gov (United States)

    Mace, Kimberly E; Arguin, Paul M; Tan, Kathrine R

    2018-05-04

    Malaria in humans is caused by intraerythrocytic protozoa of the genus Plasmodium. These parasites are transmitted by the bite of an infective female Anopheles species mosquito. The majority of malaria infections in the United States occur among persons who have traveled to regions with ongoing malaria transmission. However, malaria is occasionally acquired by persons who have not traveled out of the country through exposure to infected blood products, congenital transmission, laboratory exposure, or local mosquitoborne transmission. Malaria surveillance in the United States is conducted to provide information on its occurrence (e.g., temporal, geographic, and demographic), guide prevention and treatment recommendations for travelers and patients, and facilitate transmission control measures if locally acquired cases are identified. This report summarizes confirmed malaria cases in persons with onset of illness in 2015 and summarizes trends in previous years. Malaria cases diagnosed by blood film microscopy, polymerase chain reaction, or rapid diagnostic tests are reported to local and state health departments by health care providers or laboratory staff members. Case investigations are conducted by local and state health departments, and reports are transmitted to CDC through the National Malaria Surveillance System (NMSS), the National Notifiable Diseases Surveillance System (NNDSS), or direct CDC consultations. CDC reference laboratories provide diagnostic assistance and conduct antimalarial drug resistance marker testing on blood samples submitted by health care providers or local or state health departments. This report summarizes data from the integration of all NMSS and NNDSS cases, CDC reference laboratory reports, and CDC clinical consultations. CDC received reports of 1,517 confirmed malaria cases, including one congenital case, with an onset of symptoms in 2015 among persons who received their diagnoses in the United States. Although the number of

  19. Validation of a Step Detection Algorithm during Straight Walking and Turning in Patients with Parkinson’s Disease and Older Adults Using an Inertial Measurement Unit at the Lower Back

    Directory of Open Access Journals (Sweden)

    Minh H. Pham

    2017-09-01

    Full Text Available IntroductionInertial measurement units (IMUs positioned on various body locations allow detailed gait analysis even under unconstrained conditions. From a medical perspective, the assessment of vulnerable populations is of particular relevance, especially in the daily-life environment. Gait analysis algorithms need thorough validation, as many chronic diseases show specific and even unique gait patterns. The aim of this study was therefore to validate an acceleration-based step detection algorithm for patients with Parkinson’s disease (PD and older adults in both a lab-based and home-like environment.MethodsIn this prospective observational study, data were captured from a single 6-degrees of freedom IMU (APDM (3DOF accelerometer and 3DOF gyroscope worn on the lower back. Detection of heel strike (HS and toe off (TO on a treadmill was validated against an optoelectronic system (Vicon (11 PD patients and 12 older adults. A second independent validation study in the home-like environment was performed against video observation (20 PD patients and 12 older adults and included step counting during turning and non-turning, defined with a previously published algorithm.ResultsA continuous wavelet transform (cwt-based algorithm was developed for step detection with very high agreement with the optoelectronic system. HS detection in PD patients/older adults, respectively, reached 99/99% accuracy. Similar results were obtained for TO (99/100%. In HS detection, Bland–Altman plots showed a mean difference of 0.002 s [95% confidence interval (CI −0.09 to 0.10] between the algorithm and the optoelectronic system. The Bland–Altman plot for TO detection showed mean differences of 0.00 s (95% CI −0.12 to 0.12. In the home-like assessment, the algorithm for detection of occurrence of steps during turning reached 90% (PD patients/90% (older adults sensitivity, 83/88% specificity, and 88/89% accuracy. The detection of steps during non-turning phases

  20. Sleep in intensive care unit

    DEFF Research Database (Denmark)

    Boyko, Yuliya; Jennum, Poul; Nikolic, Miki

    2017-01-01

    PURPOSE: To determine if improving intensive care unit (ICU) environment would enhance sleep quality, assessed by polysomnography (PSG), in critically ill mechanically ventilated patients. MATERIALS AND METHODS: Randomized controlled trial, crossover design. The night intervention "quiet routine...... Medicine) sleep scoring criteria were insufficient for the assessment of polysomnograms. Modified classification for sleep scoring in critically ill patients, suggested by Watson et al. (Crit Care Med 2013;41:1958-1967), was used. RESULTS: Sound level analysis showed insignificant effect...... patients. We were not able to further reduce the already existing low noise levels in the ICU and did not find any association between the environmental intervention and the presence of normal sleep characteristics in the PSG....

  1. Fracking in the United States

    International Nuclear Information System (INIS)

    Cho, Renee

    2015-01-01

    Over the last decade, advances in technology have made it profitable to extract natural gas from shale, leading to a boom in shale gas development in the United States. Hydraulic fracturing, or fracking, the controversial method for extracting natural gas, offers numerous benefits: relatively cheap energy, enhanced energy security, job creation, tax revenues and decreased dependence on dirty coal. Fracking, however, can also increase greenhouse gas emissions, pollute the air and result in health effects, consume huge quantities of water, and cause earthquakes. While some areas welcome fracking for the economic benefits it brings, other communities are attempting to ban fracking altogether. This article examines the benefits and risks of fracking in the U.S

  2. United States uranium enrichment policies

    International Nuclear Information System (INIS)

    Roberts, R.W.

    1977-01-01

    ERDA's uranium enrichment program policies governing the manner in which ERDA's enrichment complex is being operated and expanded to meet customer requirements for separative work, research and development activities directed at providing technology alternatives for future enrichment capacity, and establishing the framework for additional domestic uranium enrichment capacity to meet the domestic and foreign nuclear industry's growing demand for enrichment services are considered. The ERDA enrichment complex consists of three gaseous diffusion plants located in Oak Ridge, Tennessee; Paducah, Kentucky; and Portsmouth, Ohio. Today, these plants provide uranium enrichment services for commercial nuclear power generation. These enrichment services are provided under contracts between the Government and the utility customers. ERDA's program involves a major pilot plant cascade, and pursues an advanced isotope separation technique for the late 1980's. That the United States must develop additional domestic uranium enrichment capacity is discussed

  3. Biblis unit A thirty years

    International Nuclear Information System (INIS)

    Lauer, H.

    2004-01-01

    The first nuclear power plant in the Federal Republic of Germany started operation in 1961. It was followed by a consistent period of development until a new energy source had become available by the late sixties which was both powerful and capable of expansion. With 1200 MW electric power, the pressurized water reactor of Biblis A in 1974 was equipped with the world's most powerful single-shaft turbine generator. In 187,656 hours of operation, Biblis A over the past thirty years generated slightly more than 211 billion kWh of gross electricity (by July 31, 2004). The operating experience accumulated also resulted in improvements and modifications of technical plant systems in the 1970s and 1980s which served to bring the unit up to the then current state of the art. Modifications of technical plant systems serving to increase the safety margins or improve operating systems, always in the light of the state of the art, have been carried out consistently and continuously over the years. In combination with a high level of qualification of the operating personnel, which is ensured by an efficient system of primary and refresher training courses of responsible shift personnel and other groups of power plant personnel, this creates a lasting foundation of safe plant operation. In connection with the preparations for, and the execution of, revision outages, Biblis provided the first experience with a PWR of this size category. Unit A of the Biblis nuclear power station is proof of the fact that technical and safety challenges can be solved, and have been solved, by engineering expertise. The high availability and low susceptibility to failure of the plant demonstrate the widely optimized maintenance strategy and the high qualification and motivation of the staff. (orig.)

  4. Edexcel A2 Physics Student Unit Guide

    CERN Document Server

    Benn, Mike

    2010-01-01

    Student Unit Guides are perfect for revision. Each guide is written by an examiner and explains the unit requirements, summarises the relevant unit content and includes a series of specimen questions and answers. There are three sections to each guide:. Introduction - includes advice on how to use the guide, an explanation of the skills being tested by the assessment objectives, an outline of the unit or module and, depending on the unit, suggestions for how to revise effectively and prepare for the examination questions. Content Guidance - provides an examiner's overview of the module's key t

  5. AQA A2 Chemistry Student Unit Guide

    CERN Document Server

    Cross, Margaret

    2010-01-01

    Student Unit Guides are perfect for revision. Each guide is written by an examiner and explains the unit requirements, summarises the relevant unit content and includes a series of specimen questions and answers. There are three sections to each guide:. Introduction - includes advice on how to use the guide, an explanation of the skills being tested by the assessment objectives, an outline of the unit or module and, depending on the unit, suggestions for how to revise effectively and prepare for the examination questions. Content Guidance - provides an examiner's overview of the module's key t

  6. Hanford Site Waste Managements Units reports

    International Nuclear Information System (INIS)

    1992-01-01

    The Hanford Site Waste Management Units Report (HSWMUR) was originated to provide information responsive to Section 3004(u) of the Hazardous and Solid Waste Amendments (HSWA) of the 1984 United States Code (USC 1984). This report provides a comprehensive inventory of all types of waste management units at the Hanford Site, including a description of the units and the waste they contain. Waste management units in this report include: (1) Resource Conservation and Recovery Act of 1976 (RCRA) disposal units, (2) Comprehensive Environmental Response, Compensation, and Liability Act of 1980 (CERCLA) disposal units, (3) unplanned releases, (4) inactive contaminated structures, (5) RCRA treatment, storage, and disposal (TSD) units, and (6) other storage areas. Because of the comprehensive nature of this report, the listing of sites is more extensive than required by Section 3004(u) of HSWA. The information in this report is extracted from the Waste Information Data System (WIDS). The WIDS provides additional information concerning the waste management units contained in this report and is maintained current with changes to these units. This report is updated annually if determined necessary per the Hanford Federal Facility Agreement and Consent Order Order (commonly referred to as the Tri-Party Agreement, Ecology et al. 1990). This report identifies 1,414 waste management units. Of these, 1,015 units are identified as solid waste management units (SWMU), and 342 are RCRA treatment, storage, and disposal units. The remaining 399 are comprised mainly of one-time spills to the environment, sanitary waste disposal facilities (i.e., septic tanks), and surplus facilities awaiting decontamination and decommissioning

  7. 3 CFR - Waiver of Reimbursement Under the United Nations Participation Act to Support the United Nations...

    Science.gov (United States)

    2010-01-01

    ... Participation Act to Support the United Nations/African Union Mission in Darfur Presidential Documents Other... the United Nations Participation Act to Support the United Nations/African Union Mission in Darfur... the United Nations/African Union Mission in Darfur to support the airlift of equipment for...

  8. Discharge from an emergency department observation unit and a surgical assessment unit

    DEFF Research Database (Denmark)

    Schultz, Helen; Qvist, Niels; Backer Mogensen, Christian

    2014-01-01

    To investigate the experiences of patients with acute abdominal pain at discharge from an emergency department observation unit compared with discharge from a surgical assessment unit.......To investigate the experiences of patients with acute abdominal pain at discharge from an emergency department observation unit compared with discharge from a surgical assessment unit....

  9. Malaria Surveillance - United States, 2014.

    Science.gov (United States)

    Mace, Kimberly E; Arguin, Paul M

    2017-05-26

    Malaria in humans is caused by intraerythrocytic protozoa of the genus Plasmodium. These parasites are transmitted by the bite of an infective female Anopheles mosquito. The majority of malaria infections in the United States occur among persons who have traveled to regions with ongoing malaria transmission. However, malaria is occasionally acquired by persons who have not traveled out of the country through exposure to infected blood products, congenital transmission, laboratory exposure, or local mosquitoborne transmission. Malaria surveillance in the United States is conducted to identify episodes of local transmission and to guide prevention recommendations for travelers. This report summarizes cases in persons with onset of illness in 2014 and trends during previous years. Malaria cases diagnosed by blood film, polymerase chain reaction, or rapid diagnostic tests are reported to local and state health departments by health care providers or laboratory staff. Case investigations are conducted by local and state health departments, and reports are transmitted to CDC through the National Malaria Surveillance System, National Notifiable Diseases Surveillance System, or direct CDC consultations. CDC conducts antimalarial drug resistance marker testing on blood samples submitted by health care providers or local or state health departments. Data from these reporting systems serve as the basis for this report. CDC received reports of 1,724 confirmed malaria cases, including one congenital case and two cryptic cases, with onset of symptoms in 2014 among persons in the United States. The number of confirmed cases in 2014 is consistent with the number of confirmed cases reported in 2013 (n = 1,741; this number has been updated from a previous publication to account for delayed reporting for persons with symptom onset occurring in late 2013). Plasmodium falciparum, P. vivax, P. ovale, and P. malariae were identified in 66.1%, 13.3%, 5.2%, and 2.7% of cases, respectively

  10. Hanford Site Waste Management Units Report

    International Nuclear Information System (INIS)

    1991-01-01

    This Hanford Site Waste Management Units Report (HSWMUR) was originated to provide information responsive to Section 3004(u) of the Hazardous and Solid Waste Amendments (HSWA) of the 1984 United States Code (USC). The report provides a comprehensive inventory of all types of waste management units at the Hanford Site and consists of waste disposal units, including (1) Resource Conservation and Recovery Act of 1976 (RCRA) disposal units, (2) Comprehensive Environmental Response, Compensation, and Liability Act of 1980 (CERCLA) disposal units, (3) unplanned releases, (4) inactive contaminated structure, (5) RCRA treatment and storage units, and (6) other storage areas. Because of the comprehensive nature of this report, the listing of sites is more extensive than required by Section 3004(u) of HSWA. In support of the Hanford RCRA permit, a field was added to designate whether the waste management unit is a solid waste management unit (SWMU). As SWMUs are identified, they will added to the Hanford Waste Information Data System (WIDS), which is the database supporting this report, and added to the report at its next annual update. A quality review of the WIDS was conducted this past year. The review included checking all data against their reference and making appropriate changes, updating the data elements using the most recent references, marking duplicate units for deletion, and addition additional information. 6 refs

  11. Hanford Site Waste Management Units Report

    International Nuclear Information System (INIS)

    1991-01-01

    This Hanford Site Waste Management Units Report (HSWMUR) was originated to provide information responsive to Section 3004(u) of the Hazardous and Solid Waste Amendments (HSWA) of the 1984 United States Code (USC). The report provides a comprehensive inventory of all types of waste management units at the Hanford Site and consists of waste disposal units, including (1) Resource Conservation and Recovery Act of 1976 (RCRA) disposal units, (2) Comprehensive Environmental Response, Compensation, and Liability Act of 1980 (CERCLA) disposal units, (3) unplanned releases, (4) inactive contaminated structures, (5) RCRA treatment and storage units, and (6) other storage areas. Because of the comprehensive nature of this report, the listing of sites is more extensive than required by Section 3004(u) of HSWA. In support of the Hanford RCRA permit, a field was added to designate whether the waste management unit is a solid waste management unit (SWMU). As SWMUs are identified, they will added to the Hanford Waste Information Data System (WIDS), which is the database supporting this report, and added to the report at its next annual update. A quality review of the WIDS was conducted this past year. The review included checking all data against their reference and making appropriate changes, updating the data elements using the most recent references, marking duplicate units for deletion, and adding additional information. 6 refs

  12. Generating units performances: power system requirements

    Energy Technology Data Exchange (ETDEWEB)

    Fourment, C; Girard, N; Lefebvre, H

    1994-08-01

    The part of generating units within the power system is more than providing power and energy. Their performance are not only measured by their energy efficiency and availability. Namely, there is a strong interaction between the generating units and the power system. The units are essential components of the system: for a given load profile the frequency variation follows directly from the behaviour of the units and their ability to adapt their power output. In the same way, the voltage at the units terminals are the key points to which the voltage profile at each node of the network is linked through the active and especially the reactive power flows. Therefore, the customer will experience the frequency and voltage variations induced by the units behaviour. Moreover, in case of adverse conditions, if the units do not operate as well as expected or trip, a portion of the system, may be the whole system, may collapse. The limitation of the performance of a unit has two kinds of consequences. Firstly, it may result in an increased amount of not supplied energy or loss of load probability: for example if the primary reserve is not sufficient, a generator tripping may lead to an abnormal frequency deviation, and load may have to be shed to restore the balance. Secondly, the limitation of a unit performance results in an economic over-cost for the system: for instance, if not enough `cheap` units are able to load-following, other units with higher operating costs have to be started up. We would like to stress the interest for the operators and design teams of the units on the one hand, and the operators and design teams of the system on the other hand, of dialog and information exchange, in operation but also at the conception stage, in order to find a satisfactory compromise between the system requirements and the consequences for the generating units. (authors). 11 refs., 4 figs.

  13. International law and United Nations

    Directory of Open Access Journals (Sweden)

    Savić Matej

    2012-01-01

    Full Text Available Along with centuries-lasting open military pretensions of world superpowers, modern diplomacy has developed, as beginning a war, as well as coming to peace demanded political activity which resulted, first in signing, and then coming into effect of international documents, on the basis of which, a foundation for the modern international order has been cast. Further on, by the formation of international organizations, codification has been allowed, as well as a progressive development of international law. Additionally, in the sense of preserving international peace and security, first the League of Nations was formed, and following the ending of World War II, the UN. Generally, the functioning of the United Nation's organs, has been regulated by legal rules, however political goals, tendencies, and mechanisms which the member states are using determine greatly the activity above all of the Security Council, but furthermore of the General Assembly, as a plenary organ. Nevertheless, the achieved results of the Commission for International Law in the meaning of creation of international conventions, as well as state adhering to the same, present unassailable achievements in the sense of development of international law. On the other hand, tendencies of motion of international relationships are aimed at establishing a multi-polar system in the international community. Today, the political scene is assuming a new appearance, by which the nearly built international system is already awaiting further progressive development.

  14. Decommissioning: a United Kingdom perspective

    International Nuclear Information System (INIS)

    Haworth, A.; Reed, D.L.; Bleeze, A.

    1995-01-01

    The paper considers the United Kingdom legislative framework relevant to decommissioning of facilities on nuclear licensed sites. It describes the various legislative bodies involved in regulating this activity and the inspectorate concerned. The licensing regime is described in some detail highlighting the UK arrangements whereby a license is granted for the site upon which nuclear facilities are planned or exist. The license remains in place throughout the life of the plant on the site: from initial planning through to the end of decommissioning. A site (of part of) is not de-licensed until it can be stated that there has ceased to be any danger from ionising radiations from anything on the site (or appropriate part of the site). The final part of the paper considers the changes arising from the commercialization of the nuclear power industry in UK and the restatement of the Nuclear Installation Inspectorate's policy on decommissioning which has arisen as a result of a review made in response to these changes. (author)

  15. Several hundred megawatt MHD units

    International Nuclear Information System (INIS)

    Pishchikov, S.; Pinkhasik, D.; Sidorov, V.

    1978-01-01

    The features are described of the future MHD unit U-25 tested at the Institute of High Temperatures of the Academy of Sciences of the USSR. The attainable thermal load of the combustion chamber is 290x10 6 kJ/m 3 .h. Three types of channel were tested, i.e., the Faraday channel divided into sections with modular insulating walls, the diagonal channel without metal body, and an improved Faraday channel with an output of 20 MW. The described MHD generator is equipped with an inverter which transforms direct current into alternating current, continuously adjusts the load from no-load operation to short-circuit connection and maintains the desired electrical voltage independently of the changes in loading. A new technique of connecting and disconnecting the oxygen equipment was developed which considerably reduces the time of start-up and shut-down. Natural gas is used for heating the air heaters. All equipment used in the operation of the MHD generator is remote controlled by computer or manually. (J.B.)

  16. Several hundred megawatt MHD units

    Energy Technology Data Exchange (ETDEWEB)

    Pishchikov, S; Pinkhasik, D; Sidorov, V

    1978-07-01

    The features are described of the future MHD unit U-25 tested at the Institute of High Temperatures of the Academy of Sciences of the USSR. The attainable thermal load of the combustion chamber is 290x10/sup 6/ kJ/m/sup 3/.h. Three types of channel were tested, i.e., the Faraday channel divided into sections with modular insulating walls, the diagonal channel without metal body, and an improved Faraday channel with an output of 20 MW. The described MHD generator is equipped with an inverter which transforms direct current into alternating current, continuously adjusts the load from no-load operation to short-circuit connection and maintains the desired electrical voltage independently of the changes in loading. A new technique of connecting and disconnecting the oxygen equipment was developed which considerably reduces the time of start-up and shut-down. Natural gas is used for heating the air heaters. All equipment used in the operation of the MHD generator is remote controlled by computer or manually.

  17. AREVA in the United States

    International Nuclear Information System (INIS)

    2007-01-01

    In 2005, the United States had 297 million inhabitants (the 3. most populous country in the world) and a land area of 9.4 million km 2 (17 times larger than France). With a GDP of 10,996 billion dollars (under the economic conditions of the year 2000), the U.S. is the largest economic power in the world. It is also the largest consumer of energy, with primary energy consumption of 2,329 million metric tons, meaning that 25% of the world's energy is consumed by just 4% of its population. Although it has large domestic energy supplies, the U.S. is very far from achieving energy self-sufficiency. A decline of nearly 50% in oil production over a period of more than 30 years and the simultaneous stagnation of gas production have further weakened the U.S. energy balance. On a more general level, the increasing depletion of hydrocarbon resources (gas and oil), the concentration of the world's main resources in geo-politically unstable areas and the forecasted increase in the consumption and price of hydrocarbons, especially since 2005, mean that energy independence and supply security have become 2 of the top priorities of U.S. commercial and international policy. In 2007, the U.S. accounted for 22% of global CO 2 emissions, equaling those of China. In relation to population, the U.S. emits 8 metric tons/inhabitant compared to a world average of 4.2 metric tons/inhabitant. Although global warming is seen as a reality by the American public, it has only recently become a major argument in favor of a nuclear energy revival in the U.S. The context is, however, changing significantly. This is evidenced by America's adoption, in recent years, of measures to reduce greenhouse gases, particularly through the development of new, more environmentally friendly technologies. Since 2001, nearly 23 billion dollars in public funds have been devoted to climate research and the development of clean energy sources, notably renewable energies such as wind and solar, but also hydrogen and

  18. Patient dose in neonatal units

    International Nuclear Information System (INIS)

    Smans, K.; Struelens, L.; Smet, M.; Bosmans, H.; Vanhavere, F.

    2008-01-01

    Lung disease represents one of the most life-threatening conditions in prematurely born children. In the evaluation of the neonatal chest, the primary and most important diagnostic study is therefore the chest radiograph. Since prematurely born children are very sensitive to radiation, those radiographs may lead to a significant radiation detriment. Hence, knowledge of the patient dose is necessary to justify the exposures. A study to assess the patient doses was started at the neonatal intensive care unit (NICU) of the Univ. Hospital in Leuven. Between September 2004 and September 2005, prematurely born babies underwent on average 10 X-ray examinations in the NICU. In this sample, the maximum was 78 X-ray examinations. For chest radiographs, the median entrance skin dose was 34 μGy and the median dose area product was 7.1 mGy.cm 2 . By means of conversion coefficients, the measured values were converted to organ doses. Organ doses were calculated for three different weight classes: extremely low birth weight infants ( 2500 g). The doses to the lungs for a single chest radiograph for infants with extremely low birth weights, low birth weights and normal birth weights were 24, 25 and 32 μGy, respectively. (authors)

  19. United Kingdom electric system privatization

    Energy Technology Data Exchange (ETDEWEB)

    Lolli, A. (Bologna Univ. (Italy))

    1992-03-01

    This paper reviews the mechanics and first results of deregulation in the electric power industry of the United Kingdom. Several aspects are dealt with, namely: 1983 Energy Act impacts on ownership and subsequent changes brought about by the 1989 Energy Act; the Act's stipulations with regard to share acquisition and distribution; the division of the patrimony of the Area Boards; natural monopolistic characteristics of power distribution; vertical integration in Scotland, target investment limits in Government and public participation; the 'golden share' concept to guarantee public participation; current 40% share ownership by the Government; 15% private ownership limit for individual investors; external control by Government of licensing and rate structure setting; the impacts of organizational changes on the overall cost benefits of deregulation; modified Governmental regulatory powers; measures to ensure competition and consumer protection; provisions regarding misbehaviour; second tier suppliers and reserve fuel supply obligations; deregulation impacts on nuclear power marketing; power pooling regulations; installation of new transmission lines; provisions encouraging the use of diverse energy sources; franchising; interconnection with national grid; regulation of technical operations; standby as it affects rate structure; and spot market pricing.

  20. Neurovascular Unit in Chronic Pain

    Directory of Open Access Journals (Sweden)

    Beatrice Mihaela Radu

    2013-01-01

    Full Text Available Chronic pain is a debilitating condition with major socioeconomic impact, whose neurobiological basis is still not clear. An involvement of the neurovascular unit (NVU has been recently proposed. In particular, the blood-brain barrier (BBB and blood-spinal cord barrier (BSCB, two NVU key players, may be affected during the development of chronic pain; in particular, transient permeabilization of the barrier is suggested by several inflammatory- and nerve-injury-based pain models, and we argue that the clarification of molecular BBB/BSCB permeabilization events will shed new light in understanding chronic pain mechanisms. Possible biases in experiments supporting this theory and its translational potentials are discussed. Moving beyond an exclusive focus on the role of the endothelium, we propose that our understanding of the mechanisms subserving chronic pain will benefit from the extension of research efforts to the NVU as a whole. In this view, the available evidence on the interaction between analgesic drugs and the NVU is here reviewed. Chronic pain comorbidities, such as neuroinflammatory and neurodegenerative diseases, are also discussed in view of NVU changes, together with innovative pharmacological solutions targeting NVU components in chronic pain treatment.

  1. Management information systems. [United Kingdom

    Energy Technology Data Exchange (ETDEWEB)

    Hartley, D.; Spence, A.C.

    1985-02-01

    The successful application in the United Kingdom of the real time monitoring and control systems (MINOS) for underground mining operations, particularly in coal transport and the development of coalface monitoring (FIDO) in 1980 led naturally to the design of an operational data base for management. A User Group of experienced colliery managers produced a Management Information System (MIS) requirements specification and began the evolution of the systems of today. Twenty-four mines operate MIS in different ways from total dependency to a means of checking their manual reporting system. MIS collects useful data from all the major MINOS applications and provides a means of manually inputting other, relevant information. A wide variety of displays and reports are available to management, adjusted to meet individual requirements. The benefits from the use of MIS are difficult to quantify, since they become part of the management process. Further developments are taking place based on operational experience and requirements and taking advantage of the recent advances in computer technology. MIS is the modern management tool in British coal mining, collecting, storing, analysing and presenting accurate information upon which management decision making is based.

  2. AREVA in the United States

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2007-07-01

    In 2005, the United States had 297 million inhabitants (the 3. most populous country in the world) and a land area of 9.4 million km{sup 2} (17 times larger than France). With a GDP of 10,996 billion dollars (under the economic conditions of the year 2000), the U.S. is the largest economic power in the world. It is also the largest consumer of energy, with primary energy consumption of 2,329 million metric tons, meaning that 25% of the world's energy is consumed by just 4% of its population. Although it has large domestic energy supplies, the U.S. is very far from achieving energy self-sufficiency. A decline of nearly 50% in oil production over a period of more than 30 years and the simultaneous stagnation of gas production have further weakened the U.S. energy balance. On a more general level, the increasing depletion of hydrocarbon resources (gas and oil), the concentration of the world's main resources in geo-politically unstable areas and the forecasted increase in the consumption and price of hydrocarbons, especially since 2005, mean that energy independence and supply security have become 2 of the top priorities of U.S. commercial and international policy. In 2007, the U.S. accounted for 22% of global CO{sub 2} emissions, equaling those of China. In relation to population, the U.S. emits 8 metric tons/inhabitant compared to a world average of 4.2 metric tons/inhabitant. Although global warming is seen as a reality by the American public, it has only recently become a major argument in favor of a nuclear energy revival in the U.S. The context is, however, changing significantly. This is evidenced by America's adoption, in recent years, of measures to reduce greenhouse gases, particularly through the development of new, more environmentally friendly technologies. Since 2001, nearly 23 billion dollars in public funds have been devoted to climate research and the development of clean energy sources, notably renewable energies such as wind and solar

  3. The Kozloduy project management unit

    International Nuclear Information System (INIS)

    Carnes, W.S.; Gros-Gean, P.; Demireva, E.

    2004-01-01

    The Project Management Unit (PMU) has been established in support to the Kozloduy NPP decommissioning department. It is comprised of a Consortium of the British Nuclear Group, EDF and subcontractor ENPRO Consult. It is responsible for the management of seven projects (a facility for dry storage of spent fuel; equipment to treat low activity liquid radioactive waste; provision of physical separation of the plant systems and areas to be decommissioned from the ones in operation; equipment to decontaminate and clean pools and large tanks; a facility to provide high volume reduction of solid radioactive wastes and retrieval and conditioning of ion exchange resins and other sorbents; equipment to provide measurement for the free-release of materials and components; a facility for personnel monitoring, decontamination and clothes changing for work outside of the normal radiological control areas) that will be used in support of the KNPP decommissioning process. The projects will be tendered in compliance with the European Bank for Reconstruction and Development requirements

  4. Data report: western United States

    International Nuclear Information System (INIS)

    Cook, J.R.; Fay, W.M.

    1982-04-01

    This abbreviated summary data report, presents results of ground water and stream surface sediment reconnaissance in the western United States. Surface sediment samples were collected at 67,741 sites, at a target sampling density of one site per 13 square kilometers. Ground water samples were collected at 13,979 sites, and surface water samples were collected at 2,958 sites. Neutron activaton analysis results are given for uranium and 16 other elements in sediments, and for uranium and 9 other elements in waters. Mass spectrometry results are given for helium in ground waters. Supplemental analyses of the sediments for extractable uranium and 22 other elements are given where they are available. Supplemental analyses of water samples for 33 additional elements are also reported where they are available. Analytical data and field measurements are presented in tables on microfiche. Data from ground water sites (on microfiche in pocket) include (1) water chemistry measurements (pH, conductivity, and alkalinity), (2) physical measurements where applicable (water temperature, well description, and scintillometer reading), and (3) elemental analyses (U, Al, Br Cl, Dy, F, Mg, Mn, Na, and V by neutron activation and Ag, Al, As, B, Ba, Be, Ca, Ce, Co, Cr, Cu, Fe, K, Li, Mg, Mn, Mo, Na, Nb, Ni, P, Sc, Se, Si, Sr, Th, Ti, V, Y, Zn, and Zr by spectrophotometry). Helium analyses are given for ground water

  5. The Unitality of Quantum B-algebras

    Science.gov (United States)

    Han, Shengwei; Xu, Xiaoting; Qin, Feng

    2018-02-01

    Quantum B-algebras as a generalization of quantales were introduced by Rump and Yang, which cover the majority of implicational algebras and provide a unified semantic for a wide class of substructural logics. Unital quantum B-algebras play an important role in the classification of implicational algebras. The main purpose of this paper is to construct unital quantum B-algebras from non-unital quantum B-algebras.

  6. Junior Leader Training Development in Operational Units

    Science.gov (United States)

    2012-04-01

    UNITS Successful operational units do not arise without tough, realistic, and challenging training. Field Manual (FM) 7-0, Training Units and D...operations. The manual provides junior leaders with guidance on how to conduct training and training management. Of particular importance is the definition...1 Relation htp between ADDIE and the Anny Training Management Model. The Army Training Management Model and ADDIE process appear in TRADOC PAM 350

  7. Fatigue in Breakwater Concrete Armour Units

    OpenAIRE

    Burcharth, Hans F.

    1984-01-01

    The reliability of rubble mound breakwaters depends on the hydraulic stability and the mechanical strength of the armour units. The paper deals with the important aspect of fatigue related to the strength of concrete armour units. Results showing significant fatigue from impact tests with Dolosse made of unreinforced and steel fibre reinforced flyash concrete are presented. Moreover universal graphs for fatigue in armour units made of conventional unreinforced concrete exposed to impact load ...

  8. Seasonal unit roots in trade variables

    OpenAIRE

    Carol Alexander; Manuel Cantavella Jordá

    1997-01-01

    In this paper we examine the presence of seasonal unit roots in trade variables for Germany, France, the United Kingdom, and Italy, using the procedure developed by Hylleberg, Engle, Granger, and Yoo (1990) [HEGY]. Both quarterly and monthly data reject the presence of unit roots at most seasonal frequencies, more frequently in quarterly than in monthly data. This has important implications for econometric modeling of trade balance, exchange rates and income in European Union (EU) countries. ...

  9. Contemporary United States Foreign Policy Towards Indonesia

    National Research Council Canada - National Science Library

    McAslan, Hugh

    2004-01-01

    United States national interests in Indonesia have traditionally being based on strategic security requirements given Indonesia's geographic location between the Indian and Pacific Oceans, and strong...

  10. Polymeric Traypack Integrity: Bench-Scale Unit

    National Research Council Canada - National Science Library

    Canavan, Jeffrey

    2002-01-01

    .... Additional experimentation was conducted to determine the applicability of the unit for non-destructive residual gas testing since current destructive tests represent a substantial continuing expense...

  11. Stabilization of gas turbine unit power

    Science.gov (United States)

    Dolotovskii, I.; Larin, E.

    2017-11-01

    We propose a new cycle air preparation unit which helps increasing energy power of gas turbine units (GTU) operating as a part of combined cycle gas turbine (CCGT) units of thermal power stations and energy and water supply systems of industrial enterprises as well as reducing power loss of gas turbine engines of process blowers resulting from variable ambient air temperatures. Installation of GTU power stabilizer at CCGT unit with electric and thermal power of 192 and 163 MW, respectively, has resulted in reduction of produced electrical energy production costs by 2.4% and thermal energy production costs by 1.6% while capital expenditures after installation of this equipment increased insignificantly.

  12. Portable brine evaporator unit, process, and system

    Science.gov (United States)

    Hart, Paul John; Miller, Bruce G.; Wincek, Ronald T.; Decker, Glenn E.; Johnson, David K.

    2009-04-07

    The present invention discloses a comprehensive, efficient, and cost effective portable evaporator unit, method, and system for the treatment of brine. The evaporator unit, method, and system require a pretreatment process that removes heavy metals, crude oil, and other contaminates in preparation for the evaporator unit. The pretreatment and the evaporator unit, method, and system process metals and brine at the site where they are generated (the well site). Thus, saving significant money to producers who can avoid present and future increases in transportation costs.

  13. Logistics Support of Naval Expeditionary Units

    National Research Council Canada - National Science Library

    Nilsen, Jan

    2004-01-01

    .... Based on literature from strategic management, logistics, and supply chain management, the research evaluates the existing theater logistics capabilities and the requirements of the supported expeditionary units...

  14. Clinical Epidemiology Unit - overview of research areas

    Science.gov (United States)

    Clinical Epidemiology Unit (CEU) conducts etiologic research with potential clinical and public health applications, and leads studies evaluating population-based early detection and cancer prevention strategies

  15. GENDER ISSUES: Perceptions of Readiness in Selected Units

    National Research Council Canada - National Science Library

    1999-01-01

    .... More than 13,000 women have joined these units.3 Among the units that have opened to women are Army smoke and chemical companies, forward support battalions, air defense artillery headquarters' units, military police units, and engineer companies...

  16. TRAINING OF THE STATE PRESIDENT'S UNIT

    African Journals Online (AJOL)

    The primary function of the State President's Unit is to protect the head of state - not his person as is generally believed, but his authority over the state. Ironically, the ceremonial performances of the State President's Unit lead people to believe that they are only capable of doing drill exer- cises. However, upon investigating.

  17. 40 CFR 157.27 - Unit packaging.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 23 2010-07-01 2010-07-01 false Unit packaging. 157.27 Section 157.27 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) PESTICIDE PROGRAMS PACKAGING REQUIREMENTS FOR PESTICIDES AND DEVICES Child-Resistant Packaging § 157.27 Unit packaging. Pesticide products...

  18. Organizational evaluation of an interprofessional study unit

    DEFF Research Database (Denmark)

    Jensen, Didde Cramer; Nørgaard, Birgitte; Draborg, Eva

    2012-01-01

    This article presents results from an organizational evaluation of an interprofessional clinical study unit (ICS) in Denmark. The aim of this study was to test whether the ICS was based on a durable organizational concept and to identify the prerequisites for the unit to be successful...

  19. Global Entrepreneurship and the United States

    Science.gov (United States)

    2010-09-01

    Global Entrepreneurship and the United States by Zoltan J. Acs Laszlo Szerb Ruxton, MD 21204 for under contract number SBAHQ-09...SUBTITLE Global Entrepreneurship and the United States 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...3 2.1. Assessing Entrepreneurship ..................................................................................4 2.2. Stages of Development

  20. Charpak, Garwin, propose unit for radiation dose

    CERN Multimedia

    Feder, Toni

    2002-01-01

    Becquerels, curries, grays, rads, rems, roentgens, sieverts - even for specialists the units of radiation can get confusing. That's why two eminent physicists, Georges Charpak of France, and Richard Garwin, are proposing the DARI as a unit of radiation dose they hope will help the public evaluate the risks associated with low-level radiation exposure (1 page)

  1. Block Gas Sol Unit in Haderslev

    DEFF Research Database (Denmark)

    Vejen, Niels Kristian

    2000-01-01

    Investigation of a SDHW system based on a Block Gas Sol Unit from Baxi A/S installed by a consumer i Haderslev, Denmark.......Investigation of a SDHW system based on a Block Gas Sol Unit from Baxi A/S installed by a consumer i Haderslev, Denmark....

  2. Traditional African Religion: A Resource Unit.

    Science.gov (United States)

    Garland, William E.

    This resource unit is based on research conducted by Lynn Mitchell and Ernest Valenzuela, experienced classroom teachers of African history and culture. The unit consists of an introduction by Mr. Garland and two major parts. Part I is an annotated bibliography of selected sources on various aspects of traditional African Religion useful in…

  3. Portable field water sample filtration unit

    International Nuclear Information System (INIS)

    Hebert, A.J.; Young, G.G.

    1977-01-01

    A lightweight back-packable field-tested filtration unit is described. The unit is easily cleaned without cross contamination at the part-per-billion level and allows rapid filtration of boiling hot and sometimes muddy water. The filtration results in samples that are free of bacteria and particulates and which resist algae growth even after storage for months. 3 figures

  4. Unit labour costs, productivity and international competitiveness

    NARCIS (Netherlands)

    Ark, Bart van; Stuivenwold, Edwin; Ypma, Gerard

    2005-01-01

    This paper provides international comparisons of relative levels of unit labour costs (ULC) for several OECD countries relative to the United States. The estimates are based on the Total Economy Database and the 60-Industry Database of the Groningen Growth and Development Centre (GGDC), and are also

  5. United States housing, first quarter 2013

    Science.gov (United States)

    Delton Alderman

    2014-01-01

    Provides current and historical information on housing market in the United States. Information includes trends for housing permits and starts, housing under construction, and housing completions for single and multifamily units, and sales and construction. This report will be updated regularly.

  6. 78 FR 64385 - United Nations Day, 2013

    Science.gov (United States)

    2013-10-28

    ... A Proclamation In 1945, after two world wars that showed the horrific lethality of modern conflict.... We celebrate the organization's challenging and often unheralded work of forging a world in which... children and grandchildren from the ravages of war, the members of the United Nations committed ``to unite...

  7. An intersection test for panel unit roots

    NARCIS (Netherlands)

    Hanck, C.

    2013-01-01

    This article proposes a new panel unit root test based on Simes' ( 1986) classical intersection test. The test is robust to general patterns of cross-sectional dependence and yet is straightforward to implement, only requiring p-values of time series unit root tests of the series in the panel, and

  8. National Lexicography Units: Past, Present, Future

    African Journals Online (AJOL)

    Mariëtta Alberts, Research Unit for Languages and Literature in SA Context,. Northwest ..... NLUs were also assisted with the marketing of the units and the obtaining .... each dictionary project, and developing an editorial style guide for each dic- .... The DSAE edited the South African Concise Oxford Dictionary that was.

  9. Oversight Institutions Within the United Nations

    DEFF Research Database (Denmark)

    Pontoppidan, Caroline Aggestam

    2015-01-01

    This article will give a description of the role of internal audit and governance functions within the United Nations system. The United Nations has, during the last 10 years, worked to establish effective oversight services. Oversight, governance and hereunder the internal audit function has been...

  10. Performance and burnout in intensive care units

    NARCIS (Netherlands)

    Keijsers, GJ; Schaufeli, WB; LeBlanc, P; Zwerts, C; Miranda, DR

    1995-01-01

    The relationship between three different performance measures and burnout was explored in 20 Dutch Intensive Care Units (ICUs). Burnout (i.e. emotional exhaustion and depersonalization) proved to be significantly related to nurses' perceptions of performance as well as to objectively assessed unit

  11. Physical protection of nuclear operational units

    International Nuclear Information System (INIS)

    1981-07-01

    The general principles of and basic requirements for the physical protection of operational units in the nuclear field are established. They concern the operational units whose activities are related with production, utilization, processing, reprocessing, handling, transport or storage of materials of interest for the Brazilian Nuclear Program. (I.C.R.) [pt

  12. 7 CFR 275.6 - Management units.

    Science.gov (United States)

    2010-01-01

    ... FOOD STAMP AND FOOD DISTRIBUTION PROGRAM PERFORMANCE REPORTING SYSTEM Management Evaluation (ME... management unit; (iii) Food Stamp Program participation, including the number of persons and number of... 7 Agriculture 4 2010-01-01 2010-01-01 false Management units. 275.6 Section 275.6 Agriculture...

  13. How Do We Really Compute with Units?

    Science.gov (United States)

    Fiedler, B. H.

    2010-01-01

    The methods that we teach students for computing with units of measurement are often not consistent with the practice of professionals. For professionals, the vast majority of computations with quantities of measure are performed within programs on electronic computers, for which an accounting for the units occurs only once, in the design of the…

  14. Unit roots, nonlinearities and structural breaks

    DEFF Research Database (Denmark)

    Haldrup, Niels; Kruse, Robinson; Teräsvirta, Timo

    One of the most influential research fields in econometrics over the past decades concerns unit root testing in economic time series. In macro-economics much of the interest in the area originate from the fact that when unit roots are present, then shocks to the time series processes have...

  15. 75 FR 65561 - United Nations Day, 2010

    Science.gov (United States)

    2010-10-26

    ... A Proclamation Sixty-five years ago, 51 nations came together in the aftermath of one of history's... all peoples. The United Nations has made great advances since it first developed out of ruin and... of nations. The United Nations' humanitarian assistance lifts up countless lives, supporting nations...

  16. Understanding "Romeo and Juliet": A Thematic Unit.

    Science.gov (United States)

    Koveleski, Erin

    This curriculum unit for Grade 9 combines the classic Shakespeare play "Romeo and Juliet" with three young adult novels: "The Outsiders" (S.E. Hinton), "Summer of My German Soldier" (Bette Greene), and "The Witch of Blackbird Pond" (Elizabeth George Speare). To complete the unit, all students will be…

  17. The Carnegie Unit: Past, Present, and Future

    Science.gov (United States)

    Silva, Elena; White, Taylor

    2015-01-01

    For more than a century, the Carnegie Unit has been the central organizing feature of American education. Translated into the "credit hour" in higher education (roughly, one hour of class time per week in a 14-16 week semester), this time-based unit is embedded in nearly every aspect of the system, from faculty-workload and…

  18. Improper colouring of (random) unit disk graphs

    NARCIS (Netherlands)

    Kang, R.J.; Müller, T.; Sereni, J.S.

    2008-01-01

    For any graph G, the k-improper chromatic number ¿k(G) is the smallest number of colours used in a colouring of G such that each colour class induces a subgraph of maximum degree k. We investigate ¿k for unit disk graphs and random unit disk graphs to generalise results of McDiarmid and Reed

  19. 28 CFR 0.1 - Organizational units.

    Science.gov (United States)

    2010-07-01

    ... Legal Policy. Office of Public Affairs. Office of the Pardon Attorney. Office of Special Counsel for Immigration Related Unfair Employment Practices. Community Relations Service. Executive Office for Immigration Review. Executive Office for United States Attorneys. Executive Office for United States Trustees...

  20. Chinese Dragons in an American Science Unit

    Science.gov (United States)

    Lew, Lee Yuen; McLure, John W.

    2005-01-01

    Can art and science find a happy home in the same unit? We think the answer is yes, if the central problem interests the students and allows them to try out multiple abilities. The sixth-grade unit described in this article, which we called "The Dragon Project," grew mainly from two roots, a study of ancient China and a later probe into…

  1. "Units of Comparison" across Languages, across Time

    Science.gov (United States)

    Thomas, Margaret

    2009-01-01

    Lardiere's keynote article adverts to a succession of "units of comparison" that have been employed in the study of cross-linguistic differences, including mid-twentieth-century structural patterns, generative grammar's parameters, and (within contemporary Minimalism) features. This commentary expands on the idea of units of cross-linguistic…

  2. The United Nations and Its Critics.

    Science.gov (United States)

    Menon, Bhaskar P.

    1989-01-01

    Provides a brief history of the development of the United Nations. Identifies achievements of the United Nations in the promotion of human rights, the translation of the Universal Declaration of Human Rights into binding international covenants, and the establishment of monitoring mechanisms to ensure the protection of human rights. (KO)

  3. SPOKEN AYACUCHO QUECHUA, UNITS 11-20.

    Science.gov (United States)

    PARKER, GARY J.; SOLA, DONALD F.

    THE ESSENTIALS OF AYACUCHO GRAMMAR WERE PRESENTED IN THE FIRST VOLUME OF THIS SERIES, SPOKEN AYACUCHO QUECHUA, UNITS 1-10. THE 10 UNITS IN THIS VOLUME (11-20) ARE INTENDED FOR USE IN AN INTERMEDIATE OR ADVANCED COURSE, AND PRESENT THE STUDENT WITH LENGTHIER AND MORE COMPLEX DIALOGS, CONVERSATIONS, "LISTENING-INS," AND DICTATIONS AS WELL…

  4. SPOKEN COCHABAMBA QUECHUA, UNITS 1-12.

    Science.gov (United States)

    LASTRA, YOLANDA; SOLA, DONALD F.

    THE FIRST OF TWO VOLUMES PREPARED FOR TEACHING THE COCHABAMBA DIALECT OF QUECHUA TO SPEAKERS OF ENGLISH, THIS DOCUMENT IS MADE UP OF 12 UNITS THAT COMPRISE A 6-WEEK INTENSIVE COURSE OF 20 CLASS HOURS A WEEK. EACH UNIT CONSISTS OF ONE OR MORE DIALOGS TO BE MEMORIZED, A DIALOG REVIEW, A SECTION ON GRAMMAR WITH ACCOMPANYING EXERCISES, CONVERSATION,…

  5. SPOKEN COCHABAMBA QUECHUA, UNITS 13-24.

    Science.gov (United States)

    LASTRA, YOLANDA; SOLA, DONALD F.

    UNITS 13-24 OF THE SPOKEN COCHABAMBA QUECHUA COURSE FOLLOW THE GENERAL FORMAT OF THE FIRST VOLUME (UNITS 1-12). THIS SECOND VOLUME IS INTENDED FOR USE IN AN INTERMEDIATE OR ADVANCED COURSE AND INCLUDES MORE COMPLEX DIALOGS, CONVERSATIONS, "LISTENING-INS," AND DICTATIONS, AS WELL AS GRAMMAR AND EXERCISE SECTIONS COVERING ADDITIONAL…

  6. Unit: Plants, Inspection Pack, National Trial Print.

    Science.gov (United States)

    Australian Science Education Project, Toorak, Victoria.

    This is a National Trial Print of a unit on plants produced as a part of the Australian Science Education Project. The unit consists of an information booklet for students, a booklet for recording student data, and a teacher's guide. The material, designed for use with students in the upper elementary grades, takes from 15 to 20 forty-minute…

  7. Unit 148 - World Wide Web Basics

    OpenAIRE

    148, CC in GIScience; Yeung, Albert K.

    2000-01-01

    This unit explains the characteristics and the working principles of the World Wide Web as the most important protocol of the Internet. Topics covered in this unit include characteristics of the World Wide Web; using the World Wide Web for the dissemination of information on the Internet; and using the World Wide Web for the retrieval of information from the Internet.

  8. Topology optimization of inertia driven dosing units

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe

    2017-01-01

    This paper presents a methodology for optimizing inertia driven dosing units, sometimes referred to as eductors, for use in small scale flow applications. The unit is assumed to operate at low to moderate Reynolds numbers and under steady state conditions. By applying topology optimization...

  9. An Environmental Unit for the Social Studies.

    Science.gov (United States)

    Kroll, Claudia J.

    Based on the inquiry method of learning, this instructional unit attempts to encourage students to discover for themselves the facts, problems, values, conflicts, and potential solutions of an environmental issue. Specifically, it deals with surface mining in the United States, with special focus on surface mining in Illinois. Materials and…

  10. Stresses in Dolos Breakwater Armour Units

    DEFF Research Database (Denmark)

    Burcharth, H. F.; Liu, Z.

    1991-01-01

    Breakage of slender unreinforced armour unite is the cause of many breakwater failures. Design diagrams to ensure structural integrity of armour unite such as dolosse and tetrapods have not been available. The article presents results of an analysis of the stresses in dolosse based on model tests...

  11. Portable Power And Digital-Communication Units

    Science.gov (United States)

    Levin, Richard R.; Henry, Paul K.; Rosenberg, Leigh S.

    1992-01-01

    Conceptual network of electronic-equipment modules provides electrical power and digital radio communications at multiple sites not served by cables. System includes central communication unit and portable units powered by solar photovoltaic arrays. Useful to serve equipment that must be set up quickly at remote sites or buildings that cannot be modified to provide cable connections.

  12. Immigration Enforcement Within the United States

    Science.gov (United States)

    2006-04-06

    Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Policy Issues...Remained in the United States, (Washington: Center for Immigration Studies, May 2002). Immigration Enforcement Within the United States Introduction ...interior enforcement lack a border component. For example, fugitive taskforces, investigations of alien slavery and sweatshops , and employer sanctions do

  13. Socioeconomic Development Inequalities among Geographic Units ...

    African Journals Online (AJOL)

    Socio-economic development inequality among geographic units is a phenomenon common in both the developed and developing countries. Regional inequality may result in dissension among geographic units of the same state due to the imbalance in socio-economic development. This study examines the inequality ...

  14. 75 FR 25925 - United States Mint

    Science.gov (United States)

    2010-05-10

    ... Committee May 25, 2010 Public Meeting. SUMMARY: Pursuant to United States Code, Title 31, section 5135(b)(8... scheduled for May 25, 2010. Date: May 25, 2010. Time: 9 a.m. to 12 p.m. Location: 8th Floor Board Room, United States Mint, 801 9th Street, NW., Washington, DC 20220. Subject: Review and discuss obverse and...

  15. Anti-Terrorism Authority Under the Laws of the United Kingdom and the United States

    National Research Council Canada - National Science Library

    Feikert, Clare; Doyle, Charles

    2006-01-01

    This is a comparison of the laws of the United Kingdom and of the United States that govern criminal and intelligence investigations of terrorist activities Both systems rely upon a series of statutory authorizations...

  16. Intelligent multi-unit disk controller

    International Nuclear Information System (INIS)

    Poirot, Lucien

    1982-01-01

    This controller has been designed as a link between a 16 bits minicomputer and two types of disks units interface: the SMD interface and an equivalent to the DRI unit interface. Four units of each type can be handled by the controller. A bit slice microprocessor controls the interface with the disks units. The maximum exchange rate is 8 megabits per second. A CRC feature has been provided for error detection. A 16 bits microprocessor implements the interface to the computer, assuring head positioning, the management of bad tracks, as well as the supervision of each transfer. A internal buffer memory allows an asynchronous dialogue with the computer. The implementation of the controller makes easy the adaptation to disks units of various types, and though it has been initially intended for a minicomputer of the MITRA type, its microprocessor based design makes it fitted to any minicomputer. (author) [fr

  17. A computer controlled tele-cobalt unit

    International Nuclear Information System (INIS)

    Brace, J.A.

    1982-01-01

    A computer controlled cobalt treatment unit was commissioned for treating patients in January 1980. Initially the controlling computer was a minicomputer, but now the control of the therapy unit is by a microcomputer. The treatment files, which specify the movement and configurations necessary to deliver the prescribed dose, are produced on the minicomputer and then transferred to the microcomputer using minitape cartridges. The actual treatment unit is based on a standard cobalt unit with a few additional features e.g. the drive motors can be controlled either by the computer or manually. Since the treatment unit is used for both manual and automatic treatments, the operational procedure under computer control is made to closely follow the manual procedure for a single field treatment. The necessary safety features which protect against human, hardware and software errors as well as the advantages and disadvantages of computer controlled radiotherapy are discussed

  18. Cultural traits as units of analysis.

    Science.gov (United States)

    O'Brien, Michael J; Lyman, R Lee; Mesoudi, Alex; VanPool, Todd L

    2010-12-12

    Cultural traits have long been used in anthropology as units of transmission that ostensibly reflect behavioural characteristics of the individuals or groups exhibiting the traits. After they are transmitted, cultural traits serve as units of replication in that they can be modified as part of an individual's cultural repertoire through processes such as recombination, loss or partial alteration within an individual's mind. Cultural traits are analogous to genes in that organisms replicate them, but they are also replicators in their own right. No one has ever seen a unit of transmission, either behavioural or genetic, although we can observe the effects of transmission. Fortunately, such units are manifest in artefacts, features and other components of the archaeological record, and they serve as proxies for studying the transmission (and modification) of cultural traits, provided there is analytical clarity over how to define and measure the units that underlie this inheritance process.

  19. Stroke Unit: General principles and standards

    Directory of Open Access Journals (Sweden)

    Mehmet Akif Topçuoğlu

    2015-04-01

    Full Text Available Evidence-based medicinal methods have convincingly shown that stroke unit approach reduces mortality and disability rates, improves the quality of life and economic burden resulting from acute ischemic and hemorrhagic stroke. Any contemporary stroke system of care cannot be successful without putting the stroke unit concept in the center of its organization. Stroke units are the main elements of primary and comprehensive stroke centers. As a modernization process, this article focuses on practical issues and suggestions related to integration of the stroke unit approach to a regionally organized stroke system of care for perusal by not only national health authorities and service providers, but also neurologists. Stroke unit quality metrics revisited herein are of critical importance for hospitals establishing or renovating primary and comprehensive stroke centers.

  20. Understanding nursing units with data and theory.

    Science.gov (United States)

    Diers, Donna; Hendrickson, Karrie; Rimar, Joan; Donovan, Donna

    2013-01-01

    Nursing units are social systems whose function depends on many variables. Available nursing data, combined with a theory of organizational diagnosis, can be used to understand nursing unit performance. One troubled unit served as a case study in organizational diagnosis and treatment using modern methods of data mining and performance improvement. Systems theory did not prescribe how to fix an underbounded system. The theory did suggest, however, that addressing the characteristics of overbounded and underbounded systems can provide some order and structure and identify helpful resources. In this instance, the data analysis served to help define the unit's problems in conjunction with information gained from talking with the nurses and touring the unit, but it was the theory that gave hints for direction for change.

  1. Mobile vapor recovery and vapor scavenging unit

    International Nuclear Information System (INIS)

    Stokes, C.A.; Steppe, D.E.

    1991-01-01

    This patent describes a mobile anti- pollution apparatus, for the recovery of hydrocarbon emissions. It comprises a mobile platform upon which is mounted a vapor recovery unit for recovering vapors including light hydrocarbons, the vapor recovery unit having an inlet and an outlet end, the inlet end adapted for coupling to an external source of hydrocarbon vapor emissions to recover a portion of the vapors including light hydrocarbons emitted therefrom, and the outlet end adapted for connection to a means for conveying unrecovered vapors to a vapor scavenging unit, the vapor scavenging unit comprising an internal combustion engine adapted for utilizing light hydrocarbon in the unrecovered vapors exiting from the vapor recovery unit as supplemental fuel

  2. 28 CFR 541.49 - Review of control unit placement.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Review of control unit placement. 541.49... INMATE DISCIPLINE AND SPECIAL HOUSING UNITS Control Unit Programs § 541.49 Review of control unit placement. (a) Unit staff shall evaluate informally and daily an inmate's adjustment within the control unit...

  3. Entomology Unit annual report 2002

    International Nuclear Information System (INIS)

    2002-01-01

    order to support this activity a prototype container rearing system was designed and constructed. The successful development of the TPU3 system for tsetse rearing enables this approach to be evaluated. The container has now been placed at Seibersdorf and it will be used for rearing tsetse in 2003. For areawide tsetse SIT programmes it will be essential that an aerial fly release system is developed and a prototype release mechanism has been designed and built. However, for such a system to be operational tsetse will have to be immobilized for some time at low temperature and a suitable temperature regime is being identified. During 2002, a start was made on the renovation of part of the Unit to provide a rearing facility for mosquitoes. The renovations will be completed in the first half of 2003 following which a colony of Anopheles arabiensis will be established

  4. Violence in the United States

    Science.gov (United States)

    Sumner, Steven A.; Mercy, James A.; Dahlberg, Linda L.; Hillis, Susan D.; Klevens, Joanne; Houry, Debra

    2015-01-01

    IMPORTANCE Interpersonal violence, which includes child abuse and neglect, youth violence, intimate partner violence, sexual violence, and elder abuse, affects millions of US residents each year. However, surveillance systems, programs, and policies to address violence often lack broad, cross-sector collaboration, and there is limited awareness of effective strategies to prevent violence. OBJECTIVES To describe the burden of interpersonal violence in the United States, explore challenges to violence prevention efforts and to identify prevention opportunities. DATA SOURCES We reviewed data from health and law enforcement surveillance systems including the National Vital Statistics System, the Federal Bureau of Investigation’s Uniform Crime Reports, the US Justice Department’s National Crime Victimization Survey, the National Survey of Children’s Exposure to Violence, the National Child Abuse and Neglect Data System, the National Intimate Partner and Sexual Violence Survey, the Youth Risk Behavior Surveillance System, and the National Electronic Injury Surveillance System—All Injury Program. RESULTS Homicide rates have decreased from a peak of 10.7 per 100 000 persons in 1980 to 5.1 per 100 000 in 2013. Aggravated assault rates have decreased from a peak of 442 per 100 000 in 1992 to 242 per 100 000 in 2012. Nevertheless, annually, there are more than 16 000 homicides and 1.6 million nonfatal assault injuries requiring treatment in emergency departments. More than 12 million adults experience intimate partner violence annually and more than 10 million children younger than 18 years experience some form of maltreatment from a caregiver, ranging from neglect to sexual abuse, but only a small percentage of these violent incidents are reported to law enforcement, health care clinicians, or child protective agencies. Moreover, exposure to violence increases vulnerability to a broad range of mental and physical health problems over the life course; for example

  5. Register of basic residential units and spatial units in the Slovak Republic

    International Nuclear Information System (INIS)

    Galdik, S.; Vavrinec, B.

    2005-01-01

    In this contribution authors deal with the register of basic residential units and spatial units in the Slovak Republic. Classification of statistical territorial units is presented. Map data and statistical data contain information about environmental impact of industrial and energetic mills

  6. Units of measurement past, present and future international system of units

    CERN Document Server

    Gupta, S V

    2010-01-01

    It is for the first time that the subject of quantities and their respective units is dealt this much in detail a glimpse of units of measurements of base quantities of length, time, mass and volume is given for ancient India three and four dimensional systems of measurement units are critically examined establishment of the fact that only four base units are needed to describe a system of units the basics to arrive at the unit of a derived quantity are explained basic, derived and dimensionless quantities including quantity calculus are introduced life history of scientists concerned with measurements units are presented to be inspiring to working metrologists and students. The International System of Units including, Metre Convention Treaty and its various organs including International National of Weights and Measure are described. The realisation of base units is given in detail. Classes of derived units within the SI, units permitted for time to come, units outside SI but used in special fields of measur...

  7. Cross Selling Implementation From Outpatient Unit to Radiology Unit in Semen Gresik Hospital

    OpenAIRE

    Rochmah, Thinni Nurul; Faradisa, Mutiara Ayu

    2013-01-01

    Thelow visitingnumberinhospital€™sunitarecloselyrelatedtomarketingactivities,includinginternal marketing which consistsof cross sellingfromother units.Thisstudy aims toanalyze crossselling implementation from Outpatient Unit to Radiology Unit in Semen Gresik Hospital. This study was a cross sectional analytic design. Samplewastakenbysimple random samplingwithsamplesize25respondents.Independentvariableswere marketing policy,employee commitment,perception, motivation,andreadiness ofcross sellin...

  8. Simulation of motor unit recruitment and microvascular unit perfusion: spatial considerations.

    Science.gov (United States)

    Fuglevand, A J; Segal, S S

    1997-10-01

    Muscle fiber activity is the principal stimulus for increasing capillary perfusion during exercise. The control elements of perfusion, i.e., microvascular units (MVUs), supply clusters of muscle fibers, whereas the control elements of contraction, i.e., motor units, are composed of fibers widely scattered throughout muscle. The purpose of this study was to examine how the discordant spatial domains of MVUs and motor units could influence the proportion of open capillaries (designated as perfusion) throughout a muscle cross section. A computer model simulated the locations of perfused MVUs in response to the activation of up to 100 motor units in a muscle with 40,000 fibers and a cross-sectional area of 100 mm2. The simulation increased contraction intensity by progressive recruitment of motor units. For each step of motor unit recruitment, the percentage of active fibers and the number of perfused MVUs were determined for several conditions: 1) motor unit fibers widely dispersed and motor unit territories randomly located (which approximates healthy human muscle), 2) regionalized motor unit territories, 3) reversed recruitment order of motor units, 4) densely clustered motor unit fibers, and 5) increased size but decreased number of motor units. The simulations indicated that the widespread dispersion of motor unit fibers facilitates complete capillary (MVU) perfusion of muscle at low levels of activity. The efficacy by which muscle fiber activity induced perfusion was reduced 7- to 14-fold under conditions that decreased the dispersion of active fibers, increased the size of motor units, or reversed the sequence of motor unit recruitment. Such conditions are similar to those that arise in neuromuscular disorders, with aging, or during electrical stimulation of muscle, respectively.

  9. Assessment of Motor Units in Neuromuscular Disease.

    Science.gov (United States)

    Henderson, Robert D; McCombe, Pamela A

    2017-01-01

    The motor unit comprises the anterior horn cell, its axon, and the muscle fibers that it innervates. Although the true number of motor units is unknown, the number of motor units appears to vary greatly between different muscles and between different individuals. Assessment of the number and function of motor units is needed in diseases of the anterior horn cell and other motor nerve disorders. Amyotrophic lateral sclerosis is the most important disease of anterior horn cells. The need for an effective biomarker for assessing disease progression and for use in clinical trials in amyotrophic lateral sclerosis has stimulated the study of methods to measure the number of motor units. Since 1970 a number of different methods, including the incremental, F-wave, multipoint, and statistical methods, have been developed but none has achieved widespread applicability. Two methods (MUNIX and the multipoint incremental method) are in current use across multiple centres and are discussed in detail in this review, together with other recently published methods. Imaging with magnetic resonance and ultrasound is increasingly being applied to this area. Motor unit number estimates have also been applied to other neuromuscular diseases such as spinal muscular atrophy, compression neuropathies, and prior poliomyelitis. The need for an objective measure for the assessment of motor units remains tantalizingly close but unfulfilled in 2016.

  10. Nuclear development in the United States

    International Nuclear Information System (INIS)

    Brewer, S.

    1983-01-01

    The history of the nuclear development in the United States has been one of international cooperation relations so far. The United States is to offer the technical information on atomic energy utilization to foreign countries in exchange for the guarantee that they never attempt to have or develop nuclear weapons. Actually, the United States has supplied the technologies on nuclear fuel cycle and other related fields to enable other countries to achieve economical and social progress. The Department of Energy clarified the public promise of the United States regarding the idea of international energy community. The ratio of nuclear power generation to total electric power supply in the United States exceeded 12%, and will exceed 20% by 1990. Since 1978, new nuclear power station has not been ordered, and some of the contracted power stations were canceled. The atomic energy industry in the United States prospered at the beginning of 1970s, but lost the spirit now, mainly due to the institutional problems rather than the technical ones. As the policy of the government to eliminate the obstacles, the improvement of the procedure for the permission and approval, the establishment of waste disposal capability, the verification of fast breeder reactor technology and the promotion of commercial fuel reprocessing were proposed. The re-establishment of the United States as the reliable supplier of atomic energy service is the final aim. (Kako, I.)

  11. Practical unit testing with JUnit and Mockito

    CERN Document Server

    Kaczanowski, Tomek

    2013-01-01

    This book explains in detail how to implement unit tests using two very popular open source Java technologies: JUnit and Mockito. It presents a range of techniques necessary to write high quality unit tests - e.g. mocks, parametrized tests and matchers. It also discusses trade-offs related to the choices we have to make when dealing with some real-life code issues. The book stresses the importance of writing readable and maintainable unit tests, and puts a lot of stress on code quality. It shows how to achieve testable code and to eliminate common mistakes by following the Test Driven Development approach. Every topic discussed in the book is illustrated with code examples, and each chapter is accompanied by some exercises. By reading this book you will: Grasp the role and purpose of unit tests Write high-quality, readable and maintainable unit tests Learn how to use JUnit and Mockito (but also other useful tools) Avoid common pitfalls when writing unit tests Recognize bad unit tests, a...

  12. SmartUnit: Empirical Evaluations for Automated Unit Testing of Embedded Software in Industry

    OpenAIRE

    Zhang, Chengyu; Yan, Yichen; Zhou, Hanru; Yao, Yinbo; Wu, Ke; Su, Ting; Miao, Weikai; Pu, Geguang

    2018-01-01

    In this paper, we aim at the automated unit coverage-based testing for embedded software. To achieve the goal, by analyzing the industrial requirements and our previous work on automated unit testing tool CAUT, we rebuild a new tool, SmartUnit, to solve the engineering requirements that take place in our partner companies. SmartUnit is a dynamic symbolic execution implementation, which supports statement, branch, boundary value and MC/DC coverage. SmartUnit has been used to test more than one...

  13. Reform of the United Kingdom judicial system

    Directory of Open Access Journals (Sweden)

    Ovidiu-Horia MAICAN

    2013-12-01

    Full Text Available The separation of powers in a state is an essential characteristic of every democratic country, a principle present in many constitutions, most notably that of the United States. The concept is imperfectly fulfilled in the United Kingdom, given that the executive (Ministers form part of the legislature and that part of the judiciary (Law Lords sit in the legislature. As a result, it was necessary to remove the constitutional anomaly that the highest court of appeal in the United Kingdom was situated within one of the chambers of Parliament.

  14. A Nonparametric Test for Seasonal Unit Roots

    OpenAIRE

    Kunst, Robert M.

    2009-01-01

    Abstract: We consider a nonparametric test for the null of seasonal unit roots in quarterly time series that builds on the RUR (records unit root) test by Aparicio, Escribano, and Sipols. We find that the test concept is more promising than a formalization of visual aids such as plots by quarter. In order to cope with the sensitivity of the original RUR test to autocorrelation under its null of a unit root, we suggest an augmentation step by autoregression. We present some evidence on the siz...

  15. Incident Command System - Environmental Unit responsibilities

    International Nuclear Information System (INIS)

    Hillman, S. O.

    1997-01-01

    The Incident Command System (ICS) for crisis management, used for response to oil spills by the Alyeska Pipeline Service Company throughout its facilities, including the Trans Alaska Pipeline and the Valdez Marine Terminal, was described. Special attention was given to the Environmental Unit within the ICS which functions as a primary support unit for the Incident Operations Section. Details of the Unit's function were provided. These include the collection, evaluation and dissemination of information on all environmental issues concerning the crisis, provision of advice and direction on environmental aspects, and up-front agency interaction. A checklist of tasks is included. 7 refs

  16. Practice development units: a study of teamwork.

    Science.gov (United States)

    Walsh, M; Walsh, A

    In this report of a study using the Team Climate Inventory (TCI) tool, the researchers explain how the tool can be used in preparation for creating a practice development unit (PDU). The TCI provides a picture of the level and quality of teamwork in a unit using a series of Likert scales. The ward in this study was found to lack the necessary level of teamwork for successful PDU development and the researchers show how this information shaped trust plans. They recommend that units contemplating PDU accreditation should assess their level of teamwork prior to proceeding with bids.

  17. Household pesticide usage in the United States.

    Science.gov (United States)

    Savage, E P; Keefe, T J; Wheeler, H W; Mounce, L; Helwic, L; Applehans, F; Goes, E; Goes, T; Mihlan, G; Rench, J; Taylor, D K

    1981-01-01

    A total of 10,000 U.S. households in 25 standard metropolitan statistical areas and 25 counties were included in the United States. More than 8,200 households granted an interview. Nine of every ten households in the United States used some types of pesticide in their house, garden, or yard. Households in the southeastern United States used the most pesticides. Although more than 500 different pesticide formulations were used by the sampled households, 15 pesticides accounted for 65.5% of all pesticides reported in this study. Thirteen of these 15 pesticides were insecticides, one was a herbicide, and one was a rodenticide.

  18. Estimated United States Transportation Energy Use 2005

    Energy Technology Data Exchange (ETDEWEB)

    Smith, C A; Simon, A J; Belles, R D

    2011-11-09

    A flow chart depicting energy flow in the transportation sector of the United States economy in 2005 has been constructed from publicly available data and estimates of national energy use patterns. Approximately 31,000 trillion British Thermal Units (trBTUs) of energy were used throughout the United States in transportation activities. Vehicles used in these activities include automobiles, motorcycles, trucks, buses, airplanes, rail, and ships. The transportation sector is powered primarily by petroleum-derived fuels (gasoline, diesel and jet fuel). Biomass-derived fuels, electricity and natural gas-derived fuels are also used. The flow patterns represent a comprehensive systems view of energy used within the transportation sector.

  19. Fatigue in Breakwater Concrete Armour Units

    DEFF Research Database (Denmark)

    Burcharth, Hans F.

    1985-01-01

    The reliability of rubble mound breakwaters depends on the hydraulic stability and the mechanical strength of the armour units. The paper deals with the important aspect of fatigue related to the strength of concrete armour units. Results showing significant fatigue from impact tests with Dolosse...... made of unreinforced and steel fibre reinforced flyash concrete are presented. Moreover universal graphs for fatigue in armour units made of conventional unreinforced concrete exposed to impact load and pulsating load are presented. The effect of fibre reinforcement and the implementation of fatigue...

  20. Multiperiod Maximum Loss is time unit invariant.

    Science.gov (United States)

    Kovacevic, Raimund M; Breuer, Thomas

    2016-01-01

    Time unit invariance is introduced as an additional requirement for multiperiod risk measures: for a constant portfolio under an i.i.d. risk factor process, the multiperiod risk should equal the one period risk of the aggregated loss, for an appropriate choice of parameters and independent of the portfolio and its distribution. Multiperiod Maximum Loss over a sequence of Kullback-Leibler balls is time unit invariant. This is also the case for the entropic risk measure. On the other hand, multiperiod Value at Risk and multiperiod Expected Shortfall are not time unit invariant.