A framework for testing robust autonomy of UAS during design and certification

As the number of Uninhabited Airborne Systems (UAS) proliferates in civil applications, industry is increasingly putting pressure on regulation authorities to provide a path for certification and allow UAS integration into regulated airspace. The success of this integration depends on developments in improved UAS reliability and safety, regulations for certification, and technologies for operational performance and safety assessment. This paper focusses on the last topic and describes a framework for quantifying robust autonomy of UAS, which quantifies the system's ability to either continue operating in the presence of faults or safely shut down. Two figures of merit are used to evaluate vehicle performance relative to mission requirements and the consequences of autonomous decision making in motion control and guidance systems. These figures of merit are interpreted within a probabilistic framework, which extends previous work in the literature. The valuation of the figures of merit can be done using stochastic simulation scenarios during both vehicle development and certification stages with different degrees of integration of hardware-in-the-loop simulation technology. The objective of the proposed framework is to aid in decision making about the suitability of a vehicle with respect to safety and reliability relative to mission requirements.

Joint motion control and control allocation design for UAS flight control systems

As Unmanned Aircraft Systems (UAS) grow in complexity, and their level of autonomy increases|moving away from the concept of a remotely piloted systems and more towards autonomous systems|there is a need to further improve reliability and tolerance to faults. The traditional way to accommodate actuator faults is by using standard control allocation techniques as part of the flight control system. The allocation problem in the presence of faults often requires adding constraints that quantify the maximum capacity of the actuators. This in turn requires on-line numerical optimisation. In this paper, we propose a framework for joint allocation and constrained control scheme via vector input scaling. The actuator configuration is used to map actuator constraints into the space of the aircraft generalised forces, which are the magnitudes demanded by the light controller. Then by constraining the output of controller, we ensure that the allocation function always receive feasible demands. With the proposed framework, the allocation problem does not require numerical optimisation, and since the controller handles the constraints, there is not need to implement heuristics to inform the controller about actuator saturation.

Pull-through failure tests of thin steel roof battens under wind uplift load

Thin profiled steel roof sheeting and battens are increasingly used in the construction of roofing systems of residential, commercial, industrial and farm buildings in Australia. The critical load combination of external wind suction and internal wind pressures that occur during high wind events such as thunderstorms and tropical cylcones often dislocate the roofing systems partially or even completely due to premature roof connection failures. Past wind damage investigations have shown that roof sheeting failures occured at their screw connections to battens. In most of these cases, the screw fastener head pulled through the thin roof sheeting whilst the screw fasteners also pulled out from the battens. Research studis undertaken on the roof sheeting to batten connection failures have improved this situation. However, the batten to rafter or truss connections have not been investigated adequately. Failure of these connections can cause the failure of the entire roof structure as observed during the recent high wind events. Therefore a detailed experimental study consisting of both small scale and full scale tests has been undertaken to investigate the steel roof batten pull-through failures in relation to many critical parameters such as steel batten geometry, thickness and grade, screw fastener head sizes and screw tightening. This paper presents the details of this experimental study and the pull-through failure load results obtained from them. Finally it discusses the development of suitable design rules that can be used to determine the pull-through connection capacities of thin steel roof battens under wind uplift loads.

From Leffingwell to Spoede : Highlights in the history of Temple Israel.

Brochure, describing the history of the Jewish community in St. Louis, founded mostly by immigrants from Germany.

Kit positive cells in the guinea pig bladder.

PURPOSE: We describe the presence of interstitial cells of Cajal (ICC) throughout the wall of the guinea pig bladder. MATERIALS AND METHODS: Bladders obtained from male guinea pigs were prepared for immunohistochemical investigations using various primary antibodies, including the specific ICC marker c-kit (Gibco BRL, Grand Island, New York). Enzymatically dispersed cells with a branched morphology were identified as ICC using anti-c-kit. They were loaded with fluo-4acetoxymethyl (Molecular Probes, Eugene, Oregon) and studied using confocal laser scanning microscopy. RESULTS: Anti-c-kit labeling demonstrated that ICC were oriented in parallel with the smooth muscle bundles that run diagonally throughout the bladder. Double labeling with anti-smooth muscle myosin (Sigma Chemical Co., St. Louis, Missouri) revealed that ICC were located on the boundary of smooth muscle bundles. When anti-c-kit was used in combination with the general neuronal antibody protein gene product 9.5 (Ultraclone Ltd., Isle of Wight, United Kingdom) or anti-neuronal nitric oxide synthase, it was noted that there was a close association between nerves and ICC. Enzymatic dissociation of cells from tissue pieces yielded a heterogeneous population of cells containing typical spindle-shaped smooth muscle cells and branched cells resembling ICC from other preparations. The latter could be identified immunohistochemically as ICC using anti-c-kit, whereas the majority of spindle-shaped cells were not Kit positive. Branched cells responded to the application of carbachol by firing Ca2+ waves and they were often spontaneously active. CONCLUSIONS: ICC are located on the boundary of smooth muscle bundles in the guinea pig bladder. They fire Ca2+ waves in response to cholinergic stimulation and can be spontaneously active, suggesting that they could act as pacemakers or intermediaries in the transmission of nerve signals to smooth muscle cells.

Advanced design optimization of cold-formed steel portal frame buildings

The design optimization of cold-formed steel portal frame buildings is considered in this paper. The objective function is based on the cost of the members for the main frame and secondary members (i.e., purlins, girts, and cladding for walls and roofs) per unit area on the plan of the building. A real-coded niching genetic algorithm is used to minimize the cost of the frame and secondary members that are designed on the basis of ultimate limit state. It iis shown that the proposed algorithm shows effective and robust capacity in generating the optimal solution, owing to the population's diversity being maintained by applying the niching method. In the optimal design, the cost of purlins and side rails are shown to account for 25% of the total cost; the main frame members account for 27% of the total cost, claddings for the walls and roofs accounted for 27% of the total cost.

Polimorfismos del gen Butirilcolinesterasa responsables de reacciones adversas en pacientes consumidores de “cocaína”

La butirilcolinesterasa humana (BChE; EC 3.1.1.8) es una enzima polimórfica sintetizada en el hígado y en el tejido adiposo, ampliamente distribuida en el organismo y encargada de hidrolizar algunos ésteres de colina como la procaína, ésteres alifáticos como el ácido acetilsalicílico, fármacos como la metilprednisolona, el mivacurium y la succinilcolina y drogas de uso y/o abuso como la heroína y la cocaína. Es codificada por el gen BCHE (OMIM 177400), habiéndose identificado más de 100 variantes, algunas no estudiadas plenamente, además de la forma más frecuente, llamada usual o silvestre. Diferentes polimorfismos del gen BCHE se han relacionado con la síntesis de enzimas con niveles variados de actividad catalítica. Las bases moleculares de algunas de esas variantes genéticas han sido reportadas, entre las que se encuentra las variantes Atípica (A), fluoruro-resistente del tipo 1 y 2 (F-1 y F-2), silente (S), Kalow (K), James (J) y Hammersmith (H). En este estudio, en un grupo de pacientes se aplicó el instrumento validado Lifetime Severity Index for Cocaine Use Disorder (LSI-C) para evaluar la gravedad del consumo de “cocaína” a lo largo de la vida. Además, se determinaron Polimorfismos de Nucleótido Simple (SNPs) en el gen BCHE conocidos como responsables de reacciones adversas en pacientes consumidores de “cocaína” mediante secuenciación del gen y se predijo el efecto delos SNPs sobre la función y la estructura de la proteína, mediante el uso de herramientas bio-informáticas. El instrumento LSI-C ofreció resultados en cuatro dimensiones: consumo a lo largo de la vida, consumo reciente, dependencia psicológica e intento de abandono del consumo. Los estudios de análisis molecular permitieron observar dos SNPs codificantes (cSNPs) no sinónimos en el 27.3% de la muestra, c.293A>G (p.Asp98Gly) y c.1699G>A (p.Ala567Thr), localizados en los exones 2 y 4, que corresponden, desde el punto de vista funcional, a la variante Atípica (A) [dbSNP: rs1799807] y a la variante Kalow (K) [dbSNP: rs1803274] de la enzima BChE, respectivamente. Los estudios de predicción In silico establecieron para el SNP p.Asp98Gly un carácter patogénico, mientras que para el SNP p.Ala567Thr, mostraron un comportamiento neutro. El análisis de los resultados permite proponer la existencia de una relación entre polimorfismos o variantes genéticas responsables de una baja actividad catalítica y/o baja concentración plasmática de la enzima BChE y algunas de las reacciones adversas ocurridas en pacientes consumidores de cocaína.

Determinación de las condiciones de trabajo y salud del personal de laboratorios universitarios como estrategia de intervención de riesgos laborales

Introducción: Las condiciones de trabajo y salud de la población trabajadora han sido estudiadas en los diferentes sectores económicos, y para esto se han aplicado diversos instrumentos para la identificación de los factores de riesgo. Sin embargo, el estudio en los trabajadores de las instituciones de educación superior, aún es escaso y limitado. Este trabajo de investigación abordó las condiciones de trabajo y salud y los factores de riesgo asociados de los empleados de laboratorios y de talleres de las diferentes unidades de una Universidad privada en Bogotá D.C. Objetivo: Determinar las condiciones de trabajo y salud del personal de laboratorios y de talleres en el 2014 de las diferentes unidades de una Universidad privada en Bogotá D.C. Métodos: Se realizó un estudio de corte transversal, en una muestra de 87 trabajadores de laboratorios y de talleres. En el análisis univariado se calcularon para las variables cualitativas frecuencias y proporciones, y para las variables cuantitativas medidas de tendencia central y dispersión acorde a la distribución de los datos. Para el análisis bivariado, se realizó la comparación de las prevalencias entre los factores de riesgo locativos, físicos, químicos, biológicos, biomecánicos y psicológicos de cada unidad y las condiciones de trabajo y salud; así como su asociación con los factores sociodemográficos y laborales, por medio de la prueba de asociación Chi-Cuadrado de Pearson. El nivel de significancia establecido fue p<0.05. Resultados: Se encontró que las variables respiración de sustancias y manipulación manual de cargas se encuentran asociadas al cargo de los trabajadores de laboratorios y de talleres. También de la muestra de trabajadores la mayoría infirió no tener una exposición significativa a los riesgos locativo, físico, biológico y psicosocial; mientras que para riesgo químico y biomecánico se encontraron frecuencias de más del 60% entre los participantes. Los hallazgos de este estudio corresponden únicamente a la percepción de los trabajadores frente a sus condiciones de trabajo y salud, puesto que no se realizaron mediciones higiénicas ni exámenes médicos a los participantes. Conclusiones: En este estudio se encontró que la exposición a riesgos locativo, físico, biológico y psicosocial es baja; mientras que es alta para riesgo químico debida a la manipulación e inhalación de sustancias químicas tóxicas, y a riesgo biomecánico a causa de las posturas prolongadas y mantenidas, la manipulación manual de cargas, los movimientos repetitivos y realizar fuerzas. En relación a las condiciones de salud mental, se encontró que la población no presenta algún estado emocional o psicológico que llame la atención, lo que en consecuencia se refleja en el buen estado de salud físico.

Stress, time pressure, and decision making

This study surveys parents with children who are deaf or hard of hearing from one private school in St. Louis, Missouri. The issue of stress and time pressure on decision making is addressed and the importance of how stress and time pressure effect parents’ decisions regarding their children who are deaf and hard of hearing.

Adenocalymma ubatubensis Assis & Semir, a new species of Bignoniaceae from Ubatuba, São Paulo state, Brazil

Adenocalymma ubatubensis, a new species from southeastern coastal Brazil, is described and illustrated. The species is distinguished by its large pseudostipules and calyx without nectaries.

Staurogyne rubescens (Aeanthaeeae), a new species from southeastern Brazil

A new species of Acantbaceae, Staurogyne rubescens, is described and illustrated. It is endemic to the Brazilian moist forests on the eastern range of mountains named Serra do Mar and is thus far known only from the states of Rio de Janeiro and São Paulo. Staurogyne rubescens can be distinguished by its lax terminal racemes, with bracts and bracteoles that are foliaceous, and the flowers that have a pink calyx and red corolla. Staurogyne itatiaiae (Wawra) Leonard also has red flowers and occurs in the highlands of the Atlantic rain forest. The distinguishing characters for these two species are presented in tabular format.

Paronychia revoluta, a new species of caryophyllaceae from Brazil

A new species of Paronychia, P revollita, from the state of Rio Grande do Sul, Brazil, is described and illustrated. This species is closely related to P camphorosmoides, distinguished from it by linear-subulate leaves with a revolute margin and prominent midribs. It is also allied to P. fascicidata, from which it differs in the lanceolate, acuminate, fimbriate, and whitish stipules, and linear-subulate leaves.