UAS See-and-Avoid Strategy using a Fuzzy Logic Controller Optimized by Cross-Entropy in Scaling Factors and Membership Functions

This work aims to develop a novel Cross-Entropy (CE) optimization-based fuzzy controller for Unmanned Aerial Monocular Vision-IMU System (UAMVIS) to solve the seeand- avoid problem using its accurate autonomous localization information. The function of this fuzzy controller is regulating the heading of this system to avoid the obstacle, e.g. wall. In the Matlab Simulink-based training stages, the Scaling Factor (SF) is adjusted according to the specified task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the collison avoidance performance. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real flight tests with a quadcopter have been done. The experimental results show that this approach precisely navigates the system to avoid the obstacle. To our best knowledge, this is the first work to present the optimized fuzzy controller for UAMVIS using Cross-Entropy method in Scaling Factors and Membership Functions optimization.

Bare-tape scaling laws for de-orbit missions in a space debris environment

El entorno espacial actual hay un gran numero de micro-meteoritos y basura espacial generada por el hombre, lo cual plantea un riesgo para la seguridad de las operaciones en el espacio. La situación se agrava continuamente a causa de las colisiones de basura espacial en órbita, y los nuevos lanzamientos de satélites. Una parte significativa de esta basura son satélites muertos, y fragmentos de satélites resultantes de explosiones y colisiones de objetos en órbita. La mitigación de este problema se ha convertido en un tema de preocupación prioritario para todas las instituciones que participan en operaciones espaciales. Entre las soluciones existentes, las amarras electrodinámicas (EDT) proporcionan un eficiente dispositivo para el rápido de-orbitado de los satélites en órbita terrestre baja (LEO), al final de su vida útil. El campo de investigación de las amarras electrodinámicas (EDT) ha sido muy fructífero desde los años 70. Gracias a estudios teóricos, y a misiones para la demostración del funcionamiento de las amarras en órbita, esta tecnología se ha desarrollado muy rápidamente en las últimas décadas. Durante este período de investigación, se han identificado y superado múltiples problemas técnicos de diversa índole. Gran parte del funcionamiento básico del sistema EDT depende de su capacidad de supervivencia ante los micro-meteoritos y la basura espacial. Una amarra puede ser cortada completamente por una partícula cuando ésta tiene un diámetro mínimo. En caso de corte debido al impacto de partículas, una amarra en sí misma, podría ser un riesgo para otros satélites en funcionamiento. Por desgracia, tras varias demostraciones en órbita, no se ha podido concluir que este problema sea importante para el funcionamiento del sistema. En esta tesis, se presenta un análisis teórico de la capacidad de supervivencia de las amarras en el espacio. Este estudio demuestra las ventajas de las amarras de sección rectangular (cinta), en cuanto a la probabilidad de supervivencia durante la misión, frente a las amarras convencionales (cables de sección circular). Debido a su particular geometría (longitud mucho mayor que la sección transversal), una amarra puede tener un riesgo relativamente alto de ser cortado por un único impacto con una partícula de pequeñas dimensiones. Un cálculo analítico de la tasa de impactos fatales para una amarra cilindrica y de tipo cinta de igual longitud y masa, considerando el flujo de partículas de basura espacial del modelo ORDEM2000 de la NASA, muestra mayor probabilidad de supervivencia para las cintas. Dicho análisis ha sido comparado con un cálculo numérico empleando los modelos de flujo el ORDEM2000 y el MASTER2005 de ESA. Además se muestra que, para igual tiempo en órbita, una cinta tiene una probabilidad de supervivencia un orden y medio de magnitud mayor que una amarra cilindrica con igual masa y longitud. Por otra parte, de-orbitar una cinta desde una cierta altitud, es mucho más rápido, debido a su mayor perímetro que le permite capturar más corriente. Este es un factor adicional que incrementa la probabilidad de supervivencia de la cinta, al estar menos tiempo expuesta a los posibles impactos de basura espacial. Por este motivo, se puede afirmar finalmente y en sentido práctico, que la capacidad de supervivencia de la cinta es bastante alta, en comparación con la de la amarra cilindrica. El segundo objetivo de este trabajo, consiste en la elaboración de un modelo analítico, mejorando la aproximación del flujo de ORDEM2000 y MASTER2009, que permite calcular con precisión, la tasa de impacto fatal al año para una cinta en un rango de altitudes e inclinaciones, en lugar de unas condiciones particulares. Se obtiene el numero de corte por un cierto tiempo en función de la geometría de la cinta y propiedades de la órbita. Para las mismas condiciones, el modelo analítico, se compara con los resultados obtenidos del análisis numérico. Este modelo escalable ha sido esencial para la optimización del diseño de la amarra para las misiones de de-orbitado de los satélites, variando la masa del satélite y la altitud inicial de la órbita. El modelo de supervivencia se ha utilizado para construir una función objetivo con el fin de optimizar el diseño de amarras. La función objectivo es el producto del cociente entre la masa de la amarra y la del satélite y el numero de corte por un cierto tiempo. Combinando el modelo de supervivencia con una ecuación dinámica de la amarra donde aparece la fuerza de Lorentz, se elimina el tiempo y se escribe la función objetivo como función de la geometría de la cinta y las propietades de la órbita. Este modelo de optimización, condujo al desarrollo de un software, que esta en proceso de registro por parte de la UPM. La etapa final de este estudio, consiste en la estimación del número de impactos fatales, en una cinta, utilizando por primera vez una ecuación de límite balístico experimental. Esta ecuación ha sido desarollada para cintas, y permite representar los efectos tanto de la velocidad de impacto como el ángulo de impacto. Los resultados obtenidos demuestran que la cinta es altamente resistente a los impactos de basura espacial, y para una cinta con una sección transversal definida, el número de impactos críticos debidos a partículas no rastreables es significativamente menor. ABSTRACT The current space environment, consisting of man-made debris and tiny meteoroids, poses a risk to safe operations in space, and the situation is continuously deteriorating due to in-orbit debris collisions and to new satellite launches. Among these debris a significant portion is due to dead satellites and fragments of satellites resulted from explosions and in-orbit collisions. Mitigation of space debris has become an issue of first concern for all the institutions involved in space operations. Bare electrodynamic tethers (EDT) can provide an efficient mechanism for rapid de-orbiting of defunct satellites from low Earth orbit (LEO) at end of life. The research on EDT has been a fruitful field since the 70’s. Thanks to both theoretical studies and in orbit demonstration missions, this technology has been developed very fast in the following decades. During this period, several technical issues were identified and overcome. The core functionality of EDT system greatly depends on their survivability to the micrometeoroids and orbital debris, and a tether can become itself a kind of debris for other operating satellites in case of cutoff due to particle impact; however, this very issue is still inconclusive and conflicting after having a number of space demonstrations. A tether can be completely cut by debris having some minimal diameter. This thesis presents a theoretical analysis of the survivability of tethers in space. The study demonstrates the advantages of tape tethers over conventional round wires particularly on the survivability during the mission. Because of its particular geometry (length very much larger than cross-sectional dimensions), a tether may have a relatively high risk of being severed by the single impact of small debris. As a first approach to the problem, survival probability has been compared for a round and a tape tether of equal mass and length. The rates of fatal impact of orbital debris on round and tape tether, evaluated with an analytical approximation to debris flux modeled by NASA’s ORDEM2000, shows much higher survival probability for tapes. A comparative numerical analysis using debris flux model ORDEM2000 and ESA’s MASTER2005 shows good agreement with the analytical result. It also shows that, for a given time in orbit, a tape has a probability of survival of about one and a half orders of magnitude higher than a round tether of equal mass and length. Because de-orbiting from a given altitude is much faster for the tape due to its larger perimeter, its probability of survival in a practical sense is quite high. As the next step, an analytical model derived in this work allows to calculate accurately the fatal impact rate per year for a tape tether. The model uses power laws for debris-size ranges, in both ORDEM2000 and MASTER2009 debris flux models, to calculate tape tether survivability at different LEO altitudes. The analytical model, which depends on tape dimensions (width, thickness) and orbital parameters (inclinations, altitudes) is then compared with fully numerical results for different orbit inclinations, altitudes and tape width for both ORDEM2000 and MASTER2009 flux data. This scalable model not only estimates the fatal impact count but has proved essential in optimizing tether design for satellite de-orbit missions varying satellite mass and initial orbital altitude and inclination. Within the frame of this dissertation, a simple analysis has been finally presented, showing the scalable property of tape tether, thanks to the survivability model developed, that allows analyze and compare de-orbit performance for a large range of satellite mass and orbit properties. The work explicitly shows the product of tether-to-satellite mass-ratio and fatal impact count as a function of tether geometry and orbital parameters. Combining the tether dynamic equation involving Lorentz drag with space debris impact survivability model, eliminates time from the expression. Hence the product, is independent of tether de-orbit history and just depends on mission constraints and tether length, width and thickness. This optimization model finally led to the development of a friendly software tool named BETsMA, currently in process of registration by UPM. For the final step, an estimation of fatal impact rate on a tape tether has been done, using for the first time an experimental ballistic limit equation that was derived for tapes and accounts for the effects of both the impact velocity and impact angle. It is shown that tape tethers are highly resistant to space debris impacts and considering a tape tether with a defined cross section, the number of critical events due to impact with non-trackable debris is always significantly low.

UAS See-and-Avoid Strategy using a Fuzzy Logic Controller Optimized by Cross-Entropy in Scaling Factors and Membership Functions.

This work aims to develop a novel Cross-Entropy (CE) optimization-based fuzzy controller for Unmanned Aerial Monocular Vision-IMU System (UAMVIS) to solve the seeand-avoid problem using its accurate autonomous localization information. The function of this fuzzy controller is regulating the heading of this system to avoid the obstacle, e.g. wall. In the Matlab Simulink-based training stages, the Scaling Factor (SF) is adjusted according to the specified task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the collison avoidance performance. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real flight tests with a quadcopter have been done. The experimental results show that this approach precisely navigates the system to avoid the obstacle. To our best knowledge, this is the first work to present the optimized fuzzy controller for UAMVIS using Cross-Entropy method in Scaling Factors and Membership Functions optimization.

Scaling of rectal gland mass in the European lesser-spotted dogfish

In the European lesser-spotted dogfish Scyliorhinus canicula, rectal gland mass in mg (M-Rg) followed the allometric relationship: M-Rg = 1.15 M-0.68, where M is body mass (g). The concept of allometric scaling is an important consideration in studies investigating the function Of osmoregulatory organs. (C) 2003 the Fisheries Society of the British Isles.

Spatial scaling in human peripheral vision

The observation that performance in many visual tasks can be made independent of eccentricity by increasing the size of peripheral stimuli according to the cortical magnification factor has dominated studies of peripheral vision for many years. However, it has become evident that the cortical magnification factor cannot be successfully applied to all tasks. To find out why, several tasks were studied using spatial scaling, a method which requires no pre-determined scaling factors (such as those predicted from cortical magnification) to magnify the stimulus at any eccentricity. Instead, thresholds are measured at the fovea and in the periphery using a series of stimuli, all of which are simply magnified versions of one another. Analysis of the data obtained in this way reveals the value of the parameter E2, the eccentricity at which foveal stimulus size must double in order to maintain performance equivalent to that at the fovea. The tasks investigated include hyperacuities (vernier acuity, bisection acuity, spatial interval discrimination, referenced displacement detection, and orientation discrimination), unreferenced instantaneous and gradual movement, flicker sensitivity, and face discrimination. In all cases tasks obeyed the principle of spatial scaling since performance in the periphery could be equated to that at the fovea by appropriate magnification. However, E2 values found for different spatial tasks varied over a 200-fold range. In spatial tasks (e.g. bisection acuity and spatial interval discrimination) E2 values were low, reaching about 0.075 deg, whereas in movement tasks the values could be as high as 16 deg. Using a method of spatial scaling it has been possible to equate foveal and peripheral perfonnance in many diverse visual tasks. The rate at which peripheral stimulus size had to be increased as a function of eccentricity was dependent upon the stimulus conditions and the task itself. Possible reasons for these findings are discussed.

Temporal scaling of optical rogue waves in unidirectional ring fiber laser

A fiber mode-lock laser allows generation of the optical rogue wave (ORW) at different time scales. The criteria for distinguishing between them is a comparison of the event lifetime with the main characteristic time of the system. The characteristic time can be estimated from the decay of an autocorrelation function (AF). Thus, in comparison with AF characteristic time, fast optical rogue wave (FORW) events have duration less than the AF decay time and it appeared due to pulse-pulse interaction and nonlinear pulses dynamics. While slow optical rogue wave (SORW) have a duration much more longer than the decay time of the AF which it papered due to hopping between different attractors. Switching between regimes can be managed by change the artificial birefringence that induced in a laser cavity. For understanding the role playing by the periodical amplification and the resonator, we have performed an unidirectional fiber laser experiments without a saturable absorber. This laser experiment allowed to generate of most of the RW patterns which were either observed experimentally or predicted theoretically. In this way, we have observed the generation of an FORW along with SORW under similar conditions. Most of the patterns were found to be mutually exclusive which means that only one RW mechanism was realized in each regime of generation.

Nonequilibrium critical scaling from quantum thermodynamics

The emerging field of quantum thermodynamics is contributing important results and insights into archetypal many-body problems, including quantum phase transitions. Still, the question whether out-of-equilibrium quantities, such as fluctuations of work, exhibit critical scaling after a sudden quench in a closed system has remained elusive. Here, we take a novel approach to the problem by studying a quench across an impurity quantum critical point. By performing density matrix renormalization group computations on the two-impurity Kondo model, we are able to establish that the irreversible work produced in a quench exhibits finite-size scaling at quantum criticality. This scaling faithfully predicts the equilibrium critical exponents for the crossover length and the order parameter of the model, and, moreover, implies a new exponent for the rescaled irreversible work. By connecting the irreversible work to the two-impurity spin correlation function, our findings can be tested experimentally.

Relationship Between Orofacial Function, Dentofacial Morphology, And Bite Force In Young Subjects.

The aim was to evaluate the relationship between orofacial function, dentofacial morphology, and bite force in young subjects. Three hundred and sixteen subjects were divided according to dentition stage (early, intermediate, and late mixed and permanent dentition). Orofacial function was screened using the Nordic Orofacial Test-Screening (NOT-S). Orthodontic treatment need, bite force, lateral and frontal craniofacial dimensions and presence of sleep bruxism were also assessed. The results were submitted to descriptive statistics, normality and correlation tests, analysis of variance, and multiple linear regression to test the relationship between NOT-S scores and the studied independent variables. The variance of NOT-S scores between groups was not significant. The evaluation of the variables that significantly contributed to NOT-S scores variation showed that age and presence of bruxism related to higher NOT-S total scores, while the increase in overbite measurement and presence of closed lip posture related to lower scores. Bite force did not show a significant relationship with scores of orofacial dysfunction. No significant correlations between craniofacial dimensions and NOT-S scores were observed. Age and sleep bruxism were related to higher NOT-S scores, while the increase in overbite measurement and closed lip posture contributed to lower scores of orofacial dysfunction.

Impaired Compensatory Beta-cell Function And Growth In Response To High-fat Diet In Ldl Receptor Knockout Mice.

In this study, we investigated the effect of low density lipoprotein receptor (LDLr) deficiency on gap junctional connexin 36 (Cx36) islet content and on the functional and growth response of pancreatic beta-cells in C57BL/6 mice fed a high-fat (HF) diet. After 60 days on regular or HF diet, the metabolic state and morphometric islet parameters of wild-type (WT) and LDLr-/- mice were assessed. HF diet-fed WT animals became obese and hypercholesterolaemic as well as hyperglycaemic, hyperinsulinaemic, glucose intolerant and insulin resistant, characterizing them as prediabetic. Also they showed a significant decrease in beta-cell secretory response to glucose. Overall, LDLr-/- mice displayed greater susceptibility to HF diet as judged by their marked cholesterolaemia, intolerance to glucose and pronounced decrease in glucose-stimulated insulin secretion. HF diet induced similarly in WT and LDLr-/- mice, a significant decrease in Cx36 beta-cell content as revealed by immunoblotting. Prediabetic WT mice displayed marked increase in beta-cell mass mainly due to beta-cell hypertrophy/replication. Nevertheless, HF diet-fed LDLr-/- mice showed no significant changes in beta-cell mass, but lower islet-duct association (neogenesis) and higher beta-cell apoptosis index were seen as compared to controls. The higher metabolic susceptibility to HF diet of LDLr-/- mice may be explained by a deficiency in insulin secretory response to glucose associated with lack of compensatory beta-cell expansion.

Long-term Postoperative Atrophy Of Contralateral Hippocampus And Cognitive Function In Unilateral Refractory Mtle With Unilateral Hippocampal Sclerosis.

This study aimed to evaluate long-term atrophy in contralateral hippocampal volume after surgery for unilateral MTLE, as well as the cognitive outcome for patients submitted to either selective transsylvian amygdalohippocampectomy (SelAH) or anterior temporal lobe resection (ATL). We performed a longitudinal study of 47 patients with MRI signs of unilateral hippocampal sclerosis (23 patients with right-sided hippocampal sclerosis) who underwent surgical treatment for MTLE. They underwent preoperative/postoperative high-resolution MRI as well as neuropsychological assessment for memory and estimated IQ. To investigate possible changes in the contralateral hippocampus of patients, we included 28 controls who underwent two MRIs at long-term intervals. The volumetry using preoperative MRI showed significant hippocampal atrophy ipsilateral to the side of surgery when compared with controls (p<0.0001) but no differences in contralateral hippocampal volumes. The mean postoperative follow-up was 8.7 years (± 2.5 SD; median=8.0). Our patients were classified as Engel I (80%), Engel II (18.2%), and Engel III (1.8%). We observed a small but significant reduction in the contralateral hippocampus of patients but no volume changes in controls. Most of the patients presented small declines in both estimated IQ and memory, which were more pronounced in patients with left TLE and in those with persistent seizures. Different surgical approaches did not impose differences in seizure control or in cognitive outcome. We observed small declines in cognitive scores with most of these patients, which were worse in patients with left-sided resection and in those who continued to suffer from postoperative seizures. We also demonstrated that manual volumetry can reveal a reduction in volume in the contralateral hippocampus, although this change was mild and could not be detected by visual analysis. These new findings suggest that dynamic processes continue to act after the removal of the hippocampus, and further studies with larger groups may help in understanding the underlying mechanisms.

Doehlert Design-desirability Function Multi-criteria Optimal Separation Of 17 Phenolic Compounds From Extra-virgin Olive Oil By Capillary Zone Electrophoresis.

In Brazil, the consumption of extra-virgin olive oil (EVOO) is increasing annually, but there are no experimental studies concerning the phenolic compound contents of commercial EVOO. The aim of this work was to optimise the separation of 17 phenolic compounds already detected in EVOO. A Doehlert matrix experimental design was used, evaluating the effects of pH and electrolyte concentration. Resolution, runtime and migration time relative standard deviation values were evaluated. Derringer's desirability function was used to simultaneously optimise all 37 responses. The 17 peaks were separated in 19min using a fused-silica capillary (50μm internal diameter, 72cm of effective length) with an extended light path and 101.3mmolL(-1) of boric acid electrolyte (pH 9.15, 30kV). The method was validated and applied to 15 EVOO samples found in Brazilian supermarkets.

Effect Of Exercise Test On Pulmonary Function Of Obese Adolescents.

to investigate the pulmonary response to exercise of non-morbidly obese adolescents, considering the gender. a prospective cross-sectional study was conducted with 92 adolescents (47 obese and 45 eutrophic), divided in four groups according to obesity and gender. Anthropometric parameters, pulmonary function (spirometry and oxygen saturation [SatO2]), heart rate (HR), blood pressure (BP), respiratory rate (RR), and respiratory muscle strength were measured. Pulmonary function parameters were measured before, during, and after the exercise test. BP and HR were higher in obese individuals during the exercise test (p = 0.0001). SatO2 values decreased during exercise in obese adolescents (p = 0.0001). Obese males had higher levels of maximum inspiratory and expiratory pressures (p = 0.0002) when compared to obese and eutrophic females. Obese males showed lower values of maximum voluntary ventilation, forced vital capacity, and forced expiratory volume in the first second when compared to eutrophic males, before and after exercise (p = 0.0005). Obese females had greater inspiratory capacity compared to eutrophic females (p = 0.0001). Expiratory reserve volume was lower in obese subjects when compared to controls (p ≤ 0,05). obese adolescents presented changes in pulmonary function at rest and these changes remained present during exercise. The spirometric and cardiorespiratory values were different in the four study groups. The present data demonstrated that, in spite of differences in lung growth, the model of fat distribution alters pulmonary function differently in obese female and male adolescents.

Matrix Metalloproteinases And Left Ventricular Function And Structure In Spinal Cord Injured Subjects.

Subjects with spinal cord injury (SCI) exhibit impaired left ventricular (LV) diastolic function, which has been reported to be attenuated by regular physical activity. This study investigated the relationship between circulating matrix metalloproteinases (MMPs) and tissue inhibitors of MMPs (TIMPs) and echocardiographic parameters in SCI subjects and the role of physical activity in this regard. Forty-two men with SCI [19 sedentary (S-SCI) and 23 physically-active (PA-SCI)] were evaluated by clinical, anthropometric, laboratory, and echocardiographic analysis. Plasmatic pro-MMP-2, MMP-2, MMP-8, pro-MMP-9, MMP-9, TIMP-1 and TIMP-2 levels were determined by enzyme-linked immunosorbent assay and zymography. PA-SCI subjects presented lower pro-MMP-2 and pro-MMP-2/TIMP-2 levels and improved markers of LV diastolic function (lower E/Em and higher Em and E/A values) than S-SCI ones. Bivariate analysis showed that pro-MMP-2 correlated inversely with Em and directly with E/Em, while MMP-9 correlated directly with LV mass index and LV end-diastolic diameter in the whole sample. Following multiple regression analysis, pro-MMP-2, but not physical activity, remained associated with Em, while MMP-9 was associated with LV mass index in the whole sample. These findings suggest differing roles for MMPs in LV structure and function regulation and an interaction among pro-MMP-2, diastolic function and physical activity in SCI subjects.

Urinary Tract Infection In Renal Transplant Recipients: Incidence, Risk Factors, And Impact On Graft Function.

Urinary tract infection (UTI) is the most common infection posttransplant. However, the risk factors for and the impact of UTIs remain controversial. The aim of this study was to identify the incidence of posttransplant UTIs in a series of renal transplant recipients from deceased donors. Secondary objectives were to identify: (1) the most frequent infectious agents; (2) risk factors related to donor; (3) risk factors related to recipients; and (4) impact of UTI on graft function. This was a retrospective analysis of medical records from renal transplant patients from January to December 2010. Local ethics committee approved the protocol. The incidence of UTI in this series was 34.2%. Risk factors for UTI were older age, (independent of gender), biopsy-proven acute rejection episodes, and kidneys from deceased donors (United Network for Organ Sharing criteria). For female patients, the number of pretransplant pregnancies was an additional risk factor. Recurrent UTI was observed in 44% of patients from the UTI group. The most common infectious agents were Escherichia coli and Klebsiella pneumoniae, for both isolated and recurrent UTI. No difference in renal graft function or immunosuppressive therapy was observed between groups after the 1-year follow-up. In this series, older age, previous pregnancy, kidneys from expanded criteria donors, and biopsy-proven acute rejection episodes were risk factors for posttransplant UTI. Recurrence of UTI was observed in 44%, with no negative impact on graft function or survival.

Going Beyond Seizure Control: Can Pharmacotherapy Help To Restore Cognitive Network Function?

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