The potential uses for Unmanned Aerial Vehicles (UAVs) is vast. However, much of their potential can only truly be unlocked by giving them a higher level of autonomy. This paper focuses on an autonomous Collision Avoi...
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ISBN:
(纸本)9781612849935
The potential uses for Unmanned Aerial Vehicles (UAVs) is vast. However, much of their potential can only truly be unlocked by giving them a higher level of autonomy. This paper focuses on an autonomous Collision Avoidance System using Specific Acceleration Matching, which is termed the 'CASSAM' in this paper. This approach is being studied as it may prove an effective means to increase the level of autonomy of UAVs. The paper presents the design of the CASSAM first by modelling the UAV dynamics and then by designing suitable control algorithms. Simulation results in 2D show that it is a viable option to address the UAV collision avoidance problem having effectively evaded threats with minimal control effort.
The present work describes the development of two collaborative Autonomous Underwater Vehicles (AUV) for Antarctic exploration to use them in the Ecuadorian Expeditions to the Scientific Base Pedro Vicente Maldonado i...
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ISBN:
(纸本)9780819486042
The present work describes the development of two collaborative Autonomous Underwater Vehicles (AUV) for Antarctic exploration to use them in the Ecuadorian Expeditions to the Scientific Base Pedro Vicente Maldonado in Antarctica. One vehicle is an AUV, called TAUV, with classical torpedo architecture, can work as a platform to transport scientific payload in a determined path in open waters. The TAUV length is 2m and diameter of 0.16m and has got three degree of freedom: pitch, yaw and surge. The vehicle achieves stable control with a set of three pairs of control planes. The other vehicle is an AUV, called HAUV, with Hybrid architecture that combines the best characteristics of the ROV and AUV, high stability in the water column, high maneuverability at low velocity without control planes and efficient hydrodynamics. The HAUV length is less than 1.50 m. The propulsion module is formed by four thrusters, three axial and one oriented vertically, this configuration gives to the HAUV three degrees of freedom: heave, surge and yaw. This vehicle can works as a ROV or an AUV. The hybrid configuration features the vehicle to explore dangerous areas near to the glacier wall. Three collaborative behaviors are discussed: formation flying, point inspection near to the glacier wall, replacement of a missing vehicle. Results of some systems of the TAUV and HAUV from laboratory, sea trials in tropical waters and Antarctic environment are show.
:This paper explores the role of patient panels for shaping research for health, scientific research about health and illness, and applied medical research. After examining the history and purposes of involving patien...
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:This paper explores the role of patient panels for shaping research for health, scientific research about health and illness, and applied medical research. After examining the history and purposes of involving patients in discussions and decision making for research, it outlines the expertise and skills required if panels are to be successful. The paper also analyses existing guidance for panels that include patients. Panels benefit from the experiential knowledge of panel members, craft knowledge of panel facilitators, and organizational knowledge gained through previous experience of hosting panels. guidance is available that addresses structures and resources (for panel funders) and interpersonal communication and group dynamics (for panel members and facilitators). This guidance is most comprehensive when it has itself been developed by all these types of stakeholders.
Handheld ultrasound is useful for intra-operative imaging, but requires additional tracking hardware to be useful in navigated intervention settings, such as biopsies, ablation therapy, injections etc. Unlike common p...
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ISBN:
(纸本)9780819485106
Handheld ultrasound is useful for intra-operative imaging, but requires additional tracking hardware to be useful in navigated intervention settings, such as biopsies, ablation therapy, injections etc. Unlike common probe-and-needle tracking approaches involving global or local tracking, we propose to use a bracket with a combination of very low-cost local sensors - cameras with projectors, optical mice and accelerometers - to reconstruct patient surfaces, needle poses, and the probe trajectory with multiple degrees of freedom, but no global tracking overhead. We report our experiences from a first series of benchtop and in-vivo human volunteer experiments.
The most commonly used indoor fire extinguishing systems are automatic sprinkling fire extinguishing systems. However, such systems have disadvantages of difficult to maintenance and low in reliability. The design of ...
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ISBN:
(纸本)9783037851319
The most commonly used indoor fire extinguishing systems are automatic sprinkling fire extinguishing systems. However, such systems have disadvantages of difficult to maintenance and low in reliability. The design of a composite indoor fire distinguishing system has been proposed, which consists of a fixed fire early warning subsystem and a moveable fire detecting and extinguishing subsystem. The moveable fire detecting and extinguishing subsystem is established on an automated guided vehicle. The system is fully autonomic, robust, and easy to maintenance. In addition, it can promptly and precisely detect fire in its early stage, and extinguish it in time. Experiments have demonstrated that the system is applicable.
According to the WHO, 170 million people, or 3% of the world's population, are infected with Hepatitis C and at risk of developing liver cirrhosis and/or liver cancer. 3-4 million people each year are newly...
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ISBN:
(数字)9781444346343
ISBN:
(纸本)9781405187459
According to the WHO, 170 million people, or 3% of the world's population, are infected with Hepatitis C and at risk of developing liver cirrhosis and/or liver cancer. 3-4 million people each year are newly diagnosed carriers of the virus. Advanced Therapy for Hepatitis C Infection provides you with expert guidance from the world’s leading hepatologists on the very latest treatment options for patients with the HCV virus. Focusing mainly on the efficacy and clinical use of antiviral therapies, key topics include: Treatment of recurrent hepatitis C following liver transplantation Antivirals in Cirrhosis and Portal Hypertension HIV and Hepatitis C co-infection Cytopenias: how they limit therapy and potential correction The problem of insulin resistance and its effect on therapy Antivirals in Acute Hepatitis C In addition, it fully covers the foundations for understanding antiviral therapies in HCV, such as the complex pharmacology and mechanisms of antiviral drugs. Finally, a chapter on New Horizons: Interleukin 28 and d irect-acting antiviral therapy for HCV , offers you a glimpse into the future possibilities for HCV therapy. Edited by a team of outstanding international reputation, Advanced Therapy for Hepatitis C Infection is an essential tool for all hepatologists and gastroenterologists involved in the management of patients with Hepatitis C.
Chinese Research Universities have done many efforts for underground students to enhance innovation capabilities. But the effect is not so ideal for many reasons. The authors discuss the three questions, innovation te...
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ISBN:
(纸本)9781424487554
Chinese Research Universities have done many efforts for underground students to enhance innovation capabilities. But the effect is not so ideal for many reasons. The authors discuss the three questions, innovation team building, innovation capability cultivating and research methods directing, based on the experience on it in the past years.
The Air Force has been working towards developing technology for operationally responsive space (ORS), which is the ability to launch military assets into space without the long set up time currently required. Part of...
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The Air Force has been working towards developing technology for operationally responsive space (ORS), which is the ability to launch military assets into space without the long set up time currently required. Part of the solution to ORS is to develop a reusable booster vehicle capable of sending any vehicle into orbit, then descending back to the atmosphere and landing unpowered so that it may take another vehicle into orbit with a 48 hour turnaround time. Currently classical gain tuning techniques are used to design a controller for a specific mission, which may hinder the vehicle’s ability to perform multiple missions if gains have to be re-tuned. Advanced nonlinear control methods like dynamic inversion and backstepping may eliminate the need to use classical gain tuning techniques that may increase quick turnaround time, reliability, and performance. Both methods consider the dynamics of the vehicle allowing the controller to be applied to the whole flight envelope. However, they are model-based methods that require knowledge of plant aerodynamics. The objective was to develop a backstepping outer loop and dynamic inversion inner loop controller for a reusable launch vehicle configuration and evaluate its robustness characteristics by inserting aerodynamic uncertainties into the static and control surface aerodynamic data separately and together. Both dynamic inversion and backstepping were susceptible to control surface aerodynamic uncertainties more than static aerodynamics. The benefit of using dynamic inversion and backstepping was that it was formulated so that it decouples the system of equations as long as the dynamics were modeled accurately. The control variable became a bank of decoupled integrators. However, when uncertainties were introduced into the plant model, the controller was unable to accurately model the dynamics, which reintroduced axes coupling inherent in the plant. The coupling caused performance in one axis to degrade if another axis de
A disaster with mass casualties or event involving a weapon of mass destruction (WMD) is a profound, life-impacting event that can lead to further devastating consequences. Under austere conditions, however, the imple...
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A disaster with mass casualties or event involving a weapon of mass destruction (WMD) is a profound, life-impacting event that can lead to further devastating consequences. Under austere conditions, however, the implementation of altered standards of care can greatly increase the quality of life of individuals injured by such an event. This thesis evaluates, compares, and contrasts, at the various federal, state, and local levels, guidance documents for altered standards of care and presents a policy recommendation for the inclusion of triggers, guaranteed minimums of care, and legal immunity into existing planning guidance documents for altered standards of care at the federal, state, and local levels. In formulating this policy recommendation, consideration was given to ethical values that should be used to develop policies for altered standards of care, which are recommended to guide and support decision making during both preparation and response at different levels of government.
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