Sintonia automática do filtro de kalman unscented.

O filtro de Kalman estendido tem sido a mais popular ferramenta de filtragem não linear das últimas quatro décadas. É de fácil implementação e apresenta baixo custo computacional. Nos casos nos quais as não linearidades do sistema dinâmico são significativas, porém, o filtro de Kalman estendido pode apresentar resultados insatisfatórios. Nessas situações, o filtro de Kalman unscented substitui com vantagens o filtro de Kalman estendido, pois pode apresentar melhores estimativas de estado, embora ambos os filtros exibam complexidade computacional de mesma ordem. A qualidade das estimativas de estado do filtro unscented está intimamente ligada à sintonia dos parâmetros que controlam a transformada unscented. A versão escalada dessa transformada exibe três parâmetros escalares que determinam o posicionamento dos pontos sigma e, consequentemente, afetam diretamente a qualidade das estimativas produzidas pelo filtro. Apesar da importância do filtro de Kalman unscented, a sintonia ótima desses parâmetros é um problema para o qual ainda não há solução definitiva. Não há nem mesmo recomendações heurísticas que garantam o bom funcionamento do filtro unscented na maior parte dos problemas tratáveis por meio de filtros Gaussianos. Essa carência e a importância desse filtro para a área de filtragem não linear fazem da busca por mecanismos de sintonia automática do filtro unscented área de pesquisa ativa. Assim, este trabalho propõe técnicas para sintonia automática dos parâmetros da transformada unscented escalada. Além da sintonia desses parâmetros, também é abordado o problema de sintonizar as matrizes de covariância dos ruídos de processo e de medida demandadas pelo modelo do sistema dinâmico usado pelo filtro unscented. As técnicas propostas cobrem então a sintonia automática de todos os parâmetros do filtro.

Reductive electrochemical formation of 6H-dibenzo[b,d]pyran-6-one and 2-benzopyran-1(1H)-one

In the present Letter several carbolactones (oxidative products) are obtained under aprotic cathodic conditions in the preparative scaled electrolysis of 1,2-quinones in a divided electrochemical cell and in the presence of oxygen. When 9,10-phenanthrenequinone is reduced 6H-dibenzo[b,d]pyran-6-one and [1,1′-biphenyl]-2,2′-dicarboxylic acid are obtained as major products. In the reduction of 1,2-naphthoquinone, 2-benzopyran-1(1H)-one, and 2-(2-carboxyethenyl)-benzoic acid were formed as main products. The proposed mechanism to explain the formation of these and other products, that involves an electron-transfer reaction to the oxygen in air, is now discussed.

Construction of Intelligent Virtual Worlds Using a Grammatical Framework

The potential of integrating multiagent systems and virtual environments has not been exploited to its whole extent. This paper proposes a model based on grammars, called Minerva, to construct complex virtual environments that integrate the features of agents. A virtual world is described as a set of dynamic and static elements. The static part is represented by a sequence of primitives and transformations and the dynamic elements by a series of agents. Agent activation and communication is achieved using events, created by the so-called event generators. The grammar defines a descriptive language with a simple syntax and a semantics, defined by functions. The semantics functions allow the scene to be displayed in a graphics device, and the description of the activities of the agents, including artificial intelligence algorithms and reactions to physical phenomena. To illustrate the use of Minerva, a practical example is presented: a simple robot simulator that considers the basic features of a typical robot. The result is a functional simple simulator. Minerva is a reusable, integral, and generic system, which can be easily scaled, adapted, and improved. The description of the virtual scene is independent from its representation and the elements that it interacts with.

Pyrimidine-Derived Prolinamides as Recoverable Bifunctional Organocatalysts for Enantioselective Inter- and Intramolecular Aldol Reactions under Solvent-Free Conditions

Chiral L-prolinamides 2 containing the (R,R)- and (S,S)-trans-cyclohexane-1,2-diamine scaffold and a 2-pyrimidinyl unit are synthesized and used as general organocatalysts for intermolecular and intramolecular aldol reactions with 1,6-hexanedioic acid as a co-catalyst under solvent-free conditions. The intermolecular reaction between ketone–aldehyde and aldehyde–aldehyde must be performed under wet conditions with catalyst (S,S)-2b at 10 °C, which affords anti-aldols with high regio-, diastereo-, and enantioselectivities. For the Hajos–Parrish–Eder–Sauer–Wiechert reaction, both diastereomers of catalyst 2 give similar results at room temperature in the absence of water to give the corresponding Wieland–Miescher ketone and derivatives. Both types of reactions were scaled up to 1 g, and the organocatalysts were recovered by extractive workup and reused without any appreciable loss in activity. DFT calculations support the stereochemical results of the intermolecular process and the bifunctional role played by the organocatalyst by providing a computational comparison of the H-bonding networks occurring with catalysts 2a and 2b.

Balkan Pitfalls. ACES Working Papers, 2011

The Western Balkans are becoming increasingly mired in political conflicts, social disquiet, ethnic disputes, and state fragilities that can precipitate a new phase of regional instability. At the same time, the major international players may be unprepared and ill equipped to manage or resolve the emerging conflicts. While the U.S. and NATO have scaled down their presence in the region, the EU’s capabilities and effectiveness are coming under closer scrutiny.

Numerical and experimental investigation of structural stiffness influence on ratcheting convection cell in granular soils under cyclic loading

Lateral cyclic loaded structures in granular soils can lead to an accumulation of irreversible strains by changing their mechanical response (densification) and forming a closed convective cell in the upper layer of the bedding. In the present thesis the convective cell dimension, formation and grain migration inside this closed volume have been studied and presented in relation to structural stiffness and different loads. This relation was experimentally investigated by applying a cyclic lateral force to a scaled flexible vertical element embedded in dry granular soil. The model was monitored with a camera in order to derive the displacement field by means of the PIV technique. Modelling large soil deformation turns out to be difficult, using mesh-based methods. Consequently, a mesh-free approach (DEM) was chosen in order to investigate the granular flow with the aim of extracting interesting micromechanical information. In both the numerical and experimental analyses the effect of different loading magnitudes and different dimensions of the vertical element were considered. The main results regarded the different development, shape and dimensions of the convection cell and the surface settlements. Moreover, the Discrete Element Method has proven to give satisfactory results in the modelling of large deformation phenomena such as the ratcheting convective cell.

Annotated record of the detailed examination of Mn deposits from the SO 79 (SEDIPERU - TUSCH) expedition from R/V Sonne

The research cruise SO79 with RV SONNE (April 18 to June 09 1992) aimed to assess the impact of a potential mining activity on the sensitive deep-sea ecosystem of the Peru Basin. Up to now only results of reconnaissance surveys of the extended manganese nodule field discovered in 1978 in the Peru Basin are available. The hydroacoustic, sedimentological, and geochemical studies on data and sample material of SO79 came to the following results: a small-scaled variation in thickness respectively type of surface sediments shown by the sediment echosounder respectively the side-scan-sonar is assumably due to variations in deposition or erosion. The composition of sediments is controlled by climatic cycles of different length which were caused by the variable influence of glaciation of the northern hemisphere. We think that during the quaternary a deep-water circulation reduced in intensity and O2-content may have produced a suboxic diagenetic environment which led to a remobilization and redeposition of Mn forming manganese nodules in the oxic surface sediments. Near the distinct redox boundary at about 10 cm depth the growth conditions for nodules are extremely favourable. Due to the great variability of sediments the impact of deep-sea mining will be highly variable and the disturbance of the seafloor will change the ecosystem considerably.

Petrophysical investigations on sediment core CRP-2A from the Ross Sea, Antarctica

A suite of petropysical measurements - velocity versus pressure, bulk density, porosity, matrix density, and magnetic susceptibility -was undertaken on 63 core plugs from CRP-2A. These data are used to calibrate neutron, resistivity, and magnetic susceptibility well logs. Agreement between core-plug magnetic susceptibility measurements and both well-log and whole-core data is excellent. Comparison of core-plug bulk densities with continious well-log density records shows very good agreement. Core-plug measurements of matrix density permit conversion of the well-log and whole-core density records to porosity. Sands and muds exhibit similar downhole compaction patterns, and both patterns are consistent with 250 ± 150 m of exhumation. Pervasive cementation, particularly in the lower half of the core, has affected many CRP-2A petrophysical parameters: (1) fractional porosities are reduced by about 0.05 - 0.10 in the lower part of the hole; (2) velocity and porosity rebound are much smaller than is usually observed for unconsolidated sediments with burial depths similar to CRP-2A; (3) velocities are unusually insensitive to pressure, suggesting that any exhumation-induced microcracks have been scaled subsequently; (4) the velocity/porosity relationship lacks the characteristic signature of exhumation-induced microcracks; (5) the velocity/porosity relationship changes with depth, indicating downhole increase in consolidation; (6) Vp/Vs ratios of the highest-porosity sediments are unusually low, implying enhancement of framework stiffness.

Sea-floor images from during POLARSTERN cruise ANT-XV/3 to the Weddell Sea, Antarctica

Transects of a Remotely Operated Vehicle (ROV) providing sea-bed videos and photographs were carried out during POLARSTERN expedition ANT-XV/3 focussing on the ecology of benthic assemblages on the Antarctic shelf in the South-Eastern Weddell Sea. The ROV-system sprint 103 was equiped with two video- and one still camera, lights, flash-lights, compass, and parallel lasers providing a scale in the images, a tether-management system (TMS), a winch, and the board units. All cameras used the same main lense and could be tilted. Videos were recorded in Betacam-format and (film-)slides were made by decision of the scientific pilot. The latter were mainly made under the aspect to improve the identification of organisms depicted in the videos because the still photographs have a much higher optical resolution than the videos. In the photographs species larger than 3 mm, in the videos larger than 1 cm are recognisable and countable. Under optimum conditions the transects were strait; the speed and direction of the ROV were determined by the drift of the ship in the coastal current, since both, the ship and the ROV were used as a drifting system; the option to operate the vehicle actively was only used to avoide obstacles and to reach at best a distance of only approximately 30 cm to the sea-floor. As a consequence the width of the photographs in the foreground is approximately 50 cm. Deviations from this strategy resulted mainly from difficult ice- and weather conditions but also from high current velocity and local up-welling close to the sea-bed. The sea-bed images provide insights into the general composition of key species, higher systematic groups and ecological guilds. Within interdisciplinary approaches distributions of assemblages can be attributed to environmental conditions such as bathymetry, sediment characteristics, water masses and current regimes. The images also contain valuable information on how benthic species are associated to each other. Along the transects, small- to intermediate-scaled disturbances, e.g. by grounding icebergs were analysed and further impact to the entire benthic system by local succession of recolonisation was studied. This information can be used for models predicting the impact of climate change to benthic life in the Southern Ocean. All these approaches contribute to a better understanding of the fiunctioning of the benthic system and related components of the entire Antarctic marine ecosystem. Despite their scientific value the imaging methods meet concerns about the protection of sensitive Antarctic benthic systems since they are non-invasive and they also provide valuable material for education and outreach purposes.

Scale model study of low-density concrete impact attenuators. Final report.

Ohio Department of Transportation, Columbus

An experimental study of highway aerodynamic interferences. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

A guide to the selection, combination, and cooking of foods /

Some recipes include wine or liquor as ingredients.

Research safety vehicle - phase II. Volume IIIb: subcontractor final reports.

National Highway Traffic Safety Administration, Washington, D.C.

Design Expressions and Dynamic Evaluation of CFST Bridges Subjected to Seismic Hazards

Thesis (Ph.D.)--University of Washington, 2016-06

Safer Conception Among HIV-1 Sero-Discordant Couples in East Africa: Understanding Knowledge, Attitudes, and Experiences

Thesis (Master's)--University of Washington, 2016-06