Generalization of the collision cone approach for motion safety in 3-D environments

Avoidance of collision between moving objects in a 3-D environment is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse fields including robotics, air vehicles, underwater vehicles and computer animation. Most of the existing literature on collision prediction assumes objects to be modelled as spheres. While the conservative spherical bounding box is valid in many cases, in many other cases, where objects operate in close proximity, a less conservative approach, that allows objects to be modelled using analytic surfaces that closely mimic the shape of the object, is more desirable. In this paper, a collision cone approach (previously developed only for objects moving on a plane) is used to determine collision between objects, moving in 3-D space, whose shapes can be modelled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained and used to derive dynamic inversion based avoidance strategies.

三峡永久船闸高边坡开挖三维离散元数值模拟:3-D Simulation of the Excavation of High Steep Slope of Three-Gorges Permanent Lock by Distinct Element Method

采用面一面接触的三维离散元刚性块体模型,从实测节理面中取出其中的三组,按照其倾向、倾角和节理间距将三峡永久船闸未开挖的区域划分为10~5个离散单元,通过施加力边界条件,给出了与实测初始地应力场接近的数值模拟结果；然后,分4步模拟了永久船闸的开挖过程。计算结果表明：开挖过程会引起节理面出现张开趋势,个别岩体还会沿着节理面滑移。岩体位移的不对称现象较为自然地说明了由节理引起的岩体各向异性特征。

Natural Suppression of the Aquatic Weed Salvinia molesta D.S. Mitchell, by Two Previously Unreported Fungal Pathogens

Salvinia molesta D. S. Mitchell (Salviniaceae), variously called giant salvinia, water fern or African payal, is a vegetatively reproducing, perennial, free-floating, aquatic weed, native to southeastern Brazil (Waterhouse and Norris 1987). It (hereafter called salvinia) is a very serious weed in most regions outside its native range (Harley and Mitchell 1981) including India. The purpose of this paper is to report on two fungal pathogens that were found to be the cause of a sudden decline in salvinia in Bangalore.(PDF has 4 pages.)

Projections in a normed linear space and a generalization of the pseudo-inverse

The concept of a "projection function" in a finite-dimensional real or complex normed linear space H (the function P_M which carries every element into the closest element of a given subspace M) is set forth and examined.

If dim M = dim H - 1, then P_M is linear. If P_N is linear for all k-dimensional subspaces N, where 1 ≤ k < dim M, then P_M is linear.

The projective bound Q, defined to be the supremum of the operator norm of P_M for all subspaces, is in the range 1 ≤ Q < 2, and these limits are the best possible. For norms with Q = 1, P_M is always linear, and a characterization of those norms is given.

If H also has an inner product (defined independently of the norm), so that a dual norm can be defined, then when P_M is linear its adjoint P_M^H is the projection on (kernel P_M)^⊥ by the dual norm. The projective bounds of a norm and its dual are equal.

The notion of a pseudo-inverse F⁺ of a linear transformation F is extended to non-Euclidean norms. The distance from F to the set of linear transformations G of lower rank (in the sense of the operator norm ∥F - G∥) is c/∥F⁺∥, where c = 1 if the range of F fills its space, and 1 ≤ c < Q otherwise. The norms on both domain and range spaces have Q = 1 if and only if (F⁺)⁺ = F for every F. This condition is also sufficient to prove that we have (F⁺)^H = (F^H)⁺, where the latter pseudo-inverse is taken using dual norms.

In all results, the real and complex cases are handled in a completely parallel fashion.

Modulation of the effectiveness of 17-alpha-hydroxy-20-beta-dihydroprogesterone or of a gonadotrophic extract on the in vitro intrafollicular maturation of oocytes of the rainbow trout Salmo gairdnerii by various non-maturing steroids [Translation from: Compte Rendu Hebdomadaire des Seances de l'Academie des Sciences, Paris, Series D 281, 811-814, 1975]

The effectiveness of 17 α-hydroxy-20 β-dihydroprogesterone (17 α-20 β Pg) or of a trout hypophyseal gonadotrophic extract on the in vitro intrafollicular maturation of trout oocytes can be modulated by steroids which do not have a direct maturing effect; the effectiveness of the gonadotrophic extract is lowered by oestradiol and oestrone and increased by testosterone. As these steroids have no significant effect on maturation induced by 17 α-20 β Pg, the site of their activity is probably in the follicular envelopes. Corticosteroids, and Cortisol and cortisone in particular increase the effectiveness of the gonadotrophic extract, but increase the effectiveness of 17 α-20 β Pg even more strongly, suggesting that this 'progestagen' has a direct effect on oocyte sensitivity.

Qualitative and quantitative aspects of the food of Ethmalosa fimbriata (Bowdich) in the Ebrié lagoon (Côte d'Ivoire)

The food of Ethmalosa fimbriata in the central part of the Ebrié lagoon, where the salinity is low, consists on limnic phytoplankton. In the region near Abidjan, which is more strongly influenced by coastal water, it consists of marine phyto- and zooplankton. The daily ration of a 12.5 cm fork-length fish is estimated to be between 2 and 3 % of its body weight.

Antibacterial effect of the Indian squid, Loligo duvauceli (d'Orbigny), ink

The ink of the Indian squid Loligo duvauceli (d'Orbigny) was tested for antibacterial activity. The antibacterial effect of bacteria present in the ink gland was also tested. Only one type of bacteria was found to be present in the ink gland of squid and was identified as Photobacterium leiognathi. Among the various forms of ink extracts, the precipitated and freeze-dried ink showed more pronounced antibacterial effect against Gram-negative bacteria, Salmonella, spp. Escherichia coli, Vibrio cholerae, V. parahaemolyticus and Pseudoinonas spp., and a less pronounced effect against Gram-positive bacteria, Staphylococcus spp. and Micrococcus spp., P. leiognathi did not inhibit any of the above bacteria. The antibacterial activity was associated with the compounds of the ink.