A geometrical approach to the motion planning problem for a submerged rigid body

The main focus of this paper is the motion planning problem for a deeply submerged rigid body. The equations of motion are formulated and presented by use of the framework of differential geometry and these equations incorporate external dissipative and restoring forces. We consider a kinematic reduction of the affine connection control system for the rigid body submerged in an ideal fluid, and present an extension of this reduction to the forced affine connection control system for the rigid body submerged in a viscous fluid. The motion planning strategy is based on kinematic motions; the integral curves of rank one kinematic reductions. This method is of particular interest to autonomous underwater vehicles which can not directly control all six degrees of freedom (such as torpedo shaped AUVs) or in case of actuator failure (i.e., under-actuated scenario). A practical example is included to illustrate our technique.

Guidance and control for underactuated autonomous underwater vehicles

The main focus of this paper is on the motion planning problem for an under-actuated, submerged, Omni-directional autonomous vehicle. Underactuation is extremely important to consider in ocean research and exploration. Battery failure, actuator malfunction and electronic shorts are a few reasons that may cause the vehicle to lose direct control of one or more degrees-of-freedom. Underactuation is also critical to understand when designing vehicles for specific tasks, such as torpedo-shaped vehicles. An under-actuated vehicle is less controllable, and hence, the motion planning problem is more difficult. Here, we present techniques based on geometric control to provide solutions to the under-actuated motion planning problem for a submerged underwater vehicle. Our results are validated with experiments.

Autonomous underwater vehicles: development and implementation of time and energy efficient trajectories

Autonomous underwater vehicles (AUVs) are increasingly used, both in military and civilian applications. These vehicles are limited mainly by the intelligence we give them and the life of their batteries. Research is active to extend vehicle autonomy in both aspects. Our intent is to give the vehicle the ability to adapt its behavior under different mission scenarios (emergency maneuvers versus long duration monitoring). This involves a search for optimal trajectories minimizing time, energy or a combination of both. Despite some success stories in AUV control, optimal control is still a very underdeveloped area. Adaptive control research has contributed to cost minimization problems, but vehicle design has been the driving force for advancement in optimal control research. We look to advance the development of optimal control theory by expanding the motions along which AUVs travel. Traditionally, AUVs have taken the role of performing the long data gathering mission in the open ocean with little to no interaction with their surroundings, MacIver et al. (2004). The AUV is used to find the shipwreck, and the remotely operated vehicle (ROV) handles the exploration up close. AUV mission profiles of this sort are best suited through the use of a torpedo shaped AUV, Bertram and Alvarez (2006), since straight lines and minimal (0 deg - 30 deg) angular displacements are all that are necessary to perform the transects and grid lines for these applications. However, the torpedo shape AUV lacks the ability to perform low-speed maneuvers in cluttered environments, such as autonomous exploration close to the seabed and around obstacles, MacIver et al. (2004). Thus, we consider an agile vehicle capable of movement in six degrees of freedom without any preference of direction.

Teaching English : some remarks on the emergence of the sympathetic teacher in the English classroom

The chapter explores the concept of the teacher-student relationship within the English classroom and proposes that this relationship has a specific purpose in building a civil society by inculcating practices of self-reflection, empathy and ethics. The topic is explored through the example of teaching Australian literature, specifically, Tim Winton’s Lockie Leonard, Human Torpedo to secondary school students. Ian Hunter’s work on literature education and the construction of socio-ethical practices provides a conceptual framework for the chapter.

Sweetpotato consumer research: insights to increasing consumption

This report provides an evaluation of the behaviours and purchasing drivers of key sweetpotato consumers defined by Nielsen consumer research as Established Couples (two or more adults with no children 17 and under, and head of house 35-59), Senior Couples (two or more adults with no children 17 or under, and head of house 60 or over), and Independent Singles (one person household 35 or over, no children 17 or under). Research was qualitative in nature. Methods used included focus groups, depth interviews and shop-a-longs. The report found that preferences for sweetpotato amongst these groups were varied. In general a smaller torpedo shaped vegetable was valued for ease of preparation and the convenience of being of sufficient size for a meal for two. Satisfaction with sweetpotato was high with negative comments on quality exceedingly rare within discussions. However, shop-a-longs revealed that some quality issues were apparent at retail such as withered product, pitting and occasionally damage. A display with stock resting in any amount of water was a barrier to purchase for consumers and this was apparent on two out 15 occasions. A high quality sweetpotato was of a deep orange/red colour, had a smooth skin and was extremely dense and hard. An inferior sweetpotato was wrinkly, spongy, pitted and damaged. Awareness of sweetpotato was a relatively recent phenomenon amongst the respondents of this study with most recalling eating the vegetable in the last five to 10 years. Life-time eating patterns emerged as a consequence of childhood food experiences such as growing up with a ‘meat and three’ veg philosophy and traditional Australian meals. However, this was dependent on cultural background and those with ties to diverse cultures were more likely to have always known of the vegetable. Sweetpotato trial and consumption coincided with a breaking away from these traditional patterns, or was integrated into conventional meals such as a baked vegetable to accompany roasts. Increased health consciousness also led to awareness of the vegetable. A primary catalyst for consumption within the Established and Senior Couples groups was the health benefits associated with sweetpotato. Consumers had very little knowledge of the specific health properties of the vegetable and were surprised at the number of benefits consumption provided. Sweetpotato was important for diabetics for its low Glycemic Index status. Top-of-the-mind awareness of the vegetable resulted from the onset of the disease. Increasing fibre was a key motive for this demographic and this provided a significant link between consumption and preventing bowel cancer. For those on a weight loss regime, sweetpotato was perceived as a tasty, satisfying food that was low in carbohydrates. Swapping behaviours where white potato was replaced by sweetpotato was often a response to these health concerns. Other health properties mentioned by participants through the course of the research included the precursor β-carotene and Vitamins A & C. The sweetpotato was appreciated for its hedonic and timesaving qualities. For consumers with a high involvement in food, the vegetable was valued for its versatility in meals. These consumers took pride in cooking and the flavour and texture of sweetpotato lent itself to a variety of meals such as soups, salads, roasts, curries, tagines and so on. Participants who had little time or desire to prepare and cook meals valued sweetpotato because it was an easy way to add colour and variety to the plate and because including an orange vegetable to meals is a shortcut to ensuring vitamin intake. Several recommendations are made to the sweetpotato industry. • Vigorously promote the distinct nutritional and health properties of sweetpotatoes, particularly if they can be favourably compared to other vegetables or foods • Promote the salient properties to specific targets such as diabetics, those that are at risk to bowel cancer, and those embarking on a weight-loss regime. Utilise specialist channels of communication such as diabetic magazines and websites • Promote styles of cooking of sweetpotato that would appeal to traditionalists such as roasts and BBQs • Promote the vegetable as a low maintenance vegetable, easy to store, easy to cook and particularly focusing on it as a simple way to boost the appearance and nutritional value of meals. • Promote the vegetable to high food involvement consumers through exotic recipes and linking it to feelings of accomplishment with cooking • Promote the versatility of the vegetable • Devise promotions that link images and tone of communications with enjoying life to the fullest, having time to enjoy family and grandchildren, and of partaking in social activities • Educate retailers on consumer perceptions of quality and ensuring moisture and mould is not present at displays Qualitative information while providing a wealth of detail cannot be extrapolated to the overall target population and this may be considered a limitation to the research. However, within research theory, effective quantitative design is believed to stem from the insights developed from qualitative studies. • Develop and implement a quantitative study on sweetpotato attitudes and behaviours based on the results of this study.

Optimizing deployment of multiple decoys to enhance ship survivability

In this paper we model a scenario where a ship uses decoys to evade a hostile torpedo. We address the problem of enhancing ship survivability against enemy torpedoes by using single and multiple decoy deployments. We incorporate deterministic ship maneuvers and realistic constraints on turn rates, field of view, etc in the model. We formulate the objective function to quantify and maximize the survivability of the ship in terms of maximizing the intercept time. We introduce the concept of optimal deployment regions, same side deployment, and zig-zag deployment strategies. Finally, we present simulation results.

Elasmobranch Landings for the Portuguese Commercial Fishery From 1986 to 2001

Portuguese commercial elasmobranch landings were analyzed for the period 1986–2001. An average of 5,169 (± 795 t) were landed yearly, representing 18 families, 29 genera, and 34 confirmed species. However, annual landings for the fishery generally decreased over time, with a corresponding increase in price per kilogram. The most important group, Raja spp., accounted for 33% of the landings or 26,916 t. They were followed by Centroscymnus coelolepis, Scyliorhinus spp., Centrophorus granulosus, and Centrophorus squamosus (accounting for 12%, 12%, 11%, and 9% of the landings, respectively). In the absence of CPUE data, the comparative trends of landings and price were employed as an indicator of the “status” of specific elasmobranch species. Raja spp., Centrophorus granulosus, Mustelus spp., Torpedo spp., and Squatinidae displayed indications of possible overexploitation, and they merit the focus of future research.

从电鳐电器官中提取N2-AchR纯品建立EAMG模型

下载PDF阅读器目的 从厦门海域单鳍电鳐的电器官中提取烟碱型乙酰胆碱受体(N2-AchR)纯品,用纯化的N2-AchR 免疫Lewis大鼠,建立实验性自身免疫性重症肌无力(EAMG)动物模型.方法 参照文献报道[1-2]从电鳐电器官提取N2-AchR纯品,并采用SDS凝胶电泳蛋白定性鉴定及考马斯亮兰定蛋白含量;以纯提的蛋白主动免疫Lewis大鼠,共免疫3次,于末次免疫后第3日进行EAMG大鼠临床评分及攀网时间、肌电图、血清Nz-AchRab含量、突触后膜上N2-AehR数目的 检测.结果 纯化的蛋白含量为1.097m咖l(标准品为1mg,ml);EAMG模型组与佐剂组比较,攀网时间明显降低(p<0.01);临床评分及肌电图第五个反应幅度衰减百分率显著升高(P<0.01);血清N2-AchRab含量明显增加(P<0.01);突触后膜上Nr-AchR数目显著减少(P<0.01).结论 从单鳍电鳐电器官纯提的Nz-AchR蛋白成功诱导EAMG模型,为进一步研究重症肌无力创造了良好条件.

水下机器人锁紧释放技术综述

叙述了锁紧释放系统在水下机器人上的应用,说明了锁紧释放装置是控制水下机器人作业的重要手段。分析了天津大学研制的水下机器人解锁释放搭载体和设备、半埋雷打捞装置夹紧爪和美国某型号武器水下发射装置完成预定任务的工作原理和结构特点。归纳总结了水下大型构件锁紧释放系统设计中应着重考虑的问题。讨论了动力源形式的选择和力(矩)裕度分析、支撑与紧固点的选择、锁紧与释放形式的选择和实现、密封技术等四项锁紧释放机构的关键技术。

Pesca comercial de tubarões e raias em Portugal

O objectivo do trabalho foi analisar os desembarques de tubarões e raias em Portugal no período 1986 – 2006. Esta análise revelou que os desembarques totalizaram 108.671 ton no referido período de 21 anos. Anualmente foram desembarcados, em média, cerca de 5.175 ton, com exemplares representantes de 8 ordens, 14 famílias e 44 espécies. Genericamente, os desembarques anuais destes grupos animais têm diminuído ao longo do tempo, apesar de se verificar um aumento no preço por quilo. O grupo mais desembarcado foi o das Raias (Raja sp.), responsável por 35.614 ton das capturas, ou seja, 33% do total. A este grupo seguiram-se as Patas-roxas (Scyliorhinus sp.), os tubarões Carocho (Centroscymnus coelolepis), Lixa (Centrophorus squamosus) e Barroso (Centrophorus granulosus), correspondendo a 12%, 12%, 10% e 9% dos desembarques, respectivamente. Na ausência de dados consistentes de CPUE, a comparação dos padrões de desembarques e preço foi utilizada como indicador da evolução do recurso, tendo em conta as várias espécies de elasmobrânquios. Centrophorus granulosus, Cações (Mustelus sp.), Tremelgas (Torpedo sp.), Marrachos (Carcharhinus sp.) e Tubarões-anjo (Squatina sp.) indiciaram sinais de possível sobrexploração, situação esta a merecer a atenção de programas futuros de I & DT. A evolução do esforço de pesca ao longo do tempo, ponderada sob a forma de “número de embarcações de pesca”, registou uma diminuição acentuada, embora substancialmente menor que a diminuição registada nos desembarques das espécies referidas. É pouco provável, por isso, que a diminuição dos desembarques seja fruto, unicamente, da diminuição na frota de pesca, mas sim de uma menor rendibilidade da actividade. Paralelamente, os aumentos de preço observados suplantaram largamente a taxa de inflação média, pelo que o aumento dos primeiros não é justificado inteiramente pelo aumento do segundo. Estes resultados tiveram eco nas análises de componentes principais (MAFA e DFA) conduzidas para as espécies, que validaram padrões de diminuição particularmente elevados nas espécies em que métodos anteriores já haviam apontado sinais de sobrepesca. Os resultados obtidos apontam para o facto de que algumas espécies parecem estar fora dos limites biológicos de segurança e, como tal, há necessidade de serem tomadas medidas de gestão eficazes.

La pensée navale et le débat sur la torpille en Angleterre au cours de la décennie 1880

L’évolution du débat sur la pensée navale en Angleterre de la décennie 1880, suivant la fin d’une période d’intenses changements technologiques dans les marines de guerre est marquée par le déclin d’un mode de réflexion matériel et l’ascension, à partir des années 1885 et 1886, de l’école historique de John Knox Laughton. Selon la méthode matérielle, populaire au cours de la période de transformation technique, la guerre sur mer est entièrement tributaire du Progrès, tandis que, pour les tenants de la méthode historique, des principes et des leçons immuables la régissent. À travers l’évolution de ce débat, on constate l’introduction, par la Jeune École française, d’une perspective matérialiste et de la stratégie navale comme objet de réflexion, et son exploitation par l’école historique anglaise. L’émergence de la stratégie comme sujet de débat coïncide donc avec le triomphe de l’école historique. Croyant que la torpille allait démocratiser la puissance navale en empêchant le belligérant le plus puissant d’user de sa maîtrise des mers, la Jeune École connut un succès fulgurant qui déborda des côtes françaises et atteint l’Angleterre. Néanmoins, les matérialistes anglais, demeurant beaucoup plus modérés que les français, furent finalement marginalisés par une école historique utilisant les exagérations de la Jeune École, dont les insuffisances sont apparues lors des manœuvres de l’été 1886, pour disqualifier entièrement la méthode matérielle. Étudiant les débats du Royal United Service Institution Journal, ce mémoire démontre l’existence, en Angleterre, au cours de la décennie 1880, d’un débat polarisé au contraire d’une historiographie ne montrant que l’ascension des précurseurs de Mahan et de l’école historique.

El reposicionamiento de Rusia en Europa Central. Las relaciones con República Checa en materia de seguridad (2000-2008)

Esta monografía se realiza con el ánimo de analizar las relaciones militares entre Rusia y República Checa con el fin de valorar su incidencia en el reposicionamiento de Rusia como gran potencia y su repercusión en Europa Central. Se estudia cómo en los últimos años la relación de ambos países se ha definido por la inestabilidad política y la inseguridad que ha desembocado en un vínculo débil, lo cual trae consecuencias al proyecto ruso y le impide ejercer un liderazgo efectivo en la región. Dicho proyecto está sustentado en los elementos del poder nacional del Realismo Clásico que permiten hacer un recorrido por todos los aspectos relevantes de la construcción del proyecto ruso y dar cuenta de su efectividad frente a una República Checa inmersa en las dinámicas europeas.

Desde dentro

Resumen basado en el de la publicaci??n.

Identification of mutations conferring insecticide-insensitive AChE in the cotton-melon aphid, Aphis gossypii Glover

We have identified two mutations in the ace1 gene of Aphis gossypii that are associated with insensitivity of acetylcholinesterase (AChE) to carbamate and organophosphate insecticides. The first of these, S431F (equivalent to F331 in Torpedo californica), is associated with insensitivity to the carbamate insecticide pirimicarb in a range of A. gossypii clones. The S431F mutation is also found in the peach-potato aphid, Myzus persicae (Sulzer), and a rapid RFLP diagnostic allows the identification of individuals of both aphid species with a resistant genotype. This diagnostic further revealed the presence of S431 in several other pirimicarb-susceptible aphid species. The serine at this position in the wild-type enzyme has only been reported for aphids and provides a molecular explanation of why pirimicarb has a specific aphicidal action. A less specific insensitivity to a wide range of carbamates and organophosphates is associated with a second mutation, A302S (A201 in T. californica).

Endogenous abscisic acid and protein contents during seed development of Araucaria angustifolia

This paper describes a proteome analysis and changes in endogenous abscisic acid (ABA) contents during seed development of Araucaria angustifolia (Bert.) O. Ktze. Megagametophytes and embryonic axis tissues exhibited a similar ABA variation pattern during seed development, reaching maximum values at the pre-cotyledonary stage. The embryonic axis protein content increased until the cotyledonary stage with following stabilization at mature seed. The two-dimensional electrophoresis at the torpedo developmental stage showed approximately 230 polypeptides against 340 in the mature stage. Peptide mass fingerprinting analyses identified three polypeptides, corresponding to an AtSAC4, a late embryogenesis abundant (LEA) and a storage protein, respectively.