Fusion of Data from Quadcopter’s Inertial Measurement Unit Using Complementary Filter

A quadcopter is a helicopter with four rotors, which is mechanically simple device, but requires complex electrical control for each motor. Control system needs accurate information about quadcopter’s attitude in order to achieve stable flight. The goal of this bachelor’s thesis was to research how this information could be obtained. Literature review revealed that most of the quadcopters, whose source-code is available, use a complementary filter or some derivative of it to fuse data from a gyroscope, an accelerometer and often also a magnetometer. These sensors combined are called an Inertial Measurement Unit. This thesis focuses on calculating angles from each sensor’s data and fusing these with a complementary filter. On the basis of literature review and measurements using a quadcopter, the proposed filter provides sufficiently accurate attitude data for flight control system. However, a simple complementary filter has one significant drawback – it works reliably only when the quadcopter is hovering or moving at a constant speed. The reason is that an accelerometer can’t be used to measure angles accurately if linear acceleration is present. This problem can be fixed using some derivative of a complementary filter like an adaptive complementary filter or a Kalman filter, which are not covered in this thesis.

Troponin I serum levels predict the need of dialysis in incident sepsis patients with acute kidney injury in the intensive care unit

Abstract Introduction: Sepsis, an extremely prevalent condition in the intensive care unit, is usually associated with organ dysfunction, which can affect heart and kidney. Objective: To determine whether the cardiac dysfunction and the Troponin I forecast the occurrence of acute renal failure in sepsis. Methods: Cardiac dysfunction was assessed by echocardiography and by the serum troponin I levels, and renal impairment by AKIN criteria and the need of dialysis. Twenty-nine patients with incident sepsis without previous cardiac or renal dysfunction were enrolled. Results and Discussion: Patients averaged 75.3 ± 17.3 years old and 55% were male. Median APACHE II severity score at ICU admission was 16 (9.7 - 24.2) and mortality rate in 30 days was 45%. On the fifth day, 59% had ventricular dysfunction. Troponin serum levels on day 1 in the affected patients were 1.02 ± 0.6 ng/mL compared with 0.23 ± 0.18 ng/mL in patients without heart dysfunction (p = 0.01). Eighteen out of 29 patients (62%) underwent renal replacement therapy (RRT) and the percent of patients with ventricular dysfunction who required dialysis was higher (94% vs. 16%, p = 0.0001). Values of troponin at day 1 were used to develop a ROC curve to determine their ability to predict the need of dialysis. The area under the curve was 0.89 and the cutoff value was 0.4 ng/mL. Conclusion: We found that an elevation in serum troponin levels, while guarding a relationship with ventricular dysfunction, can be a precious tool to predict the need for dialysis in sepsis patients.

Germination, initial growth and cotyledon protein content of bean cultivars under salinity stress

Excess salts in the root zone inhibit water uptake by plants, affect nutrient uptake and may result in toxicities due to individual salts in the soil solution. Excess exchangeable sodium in the soil may destroy the soil structure to a point where water penetration and root aeration become impossible. Sodium is also toxic to many plants. Beans (Phaseolus vulgaris L.) are consumed as protein source in northeastern Brazil, although little is known about common bean cultivar tolerance to salinity. The germination of bean cultivars under salt stress was studied. The cultivars 'Carioca' and 'Mulatinho' were submitted to germination test in a germinator at 25ºC, at the Seed Analysis Laboratory of the Brazilian Agricultural Research Corporation unit in the Semi- Arid region (Embrapa Semi Árido), Petrolina, Pernambuco State. These seeds were germinated on "germitest" papers imbibed in distilled water or in 10, 50, 100 e 200 mol.m-3sodium chloride (NaCl) solutions. At the first and second counts of the germination test, normal seedlings were counted, measured, weighed and dried, supplying data for vigor, total germination, fresh matter weight and dry matter weight and seedlings length. Total protein was quantified in cotyledons at 3, 6 and 9 days after sowing. The results indicated that the NaCl content influenced seed germination and concentrations above 50 mol.m-3 decreased germination and seedling growth.

Le Réveil des cochers-chauffeurs du Comité pour l'indépendance et l'unité des syndicats

1940/03.

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1941/05/31 (N98).

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1941/01/13 (N63).

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1940/10/10 (N29).

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1941/01/04 (N60).

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1941/06/10 (N99).

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1940/12/28 (N58).

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1940/09/27 (N22).

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1940/12/16 (N53).

Liste officielle ... des prisonniers de guerre français : d'après les renseignements fournis par l'autorité militaire allemande : nom, date et lieu de naissance, unité / Centre national d'information sur les prisonniers de guerre

1940/12/07 (N49).