High fidelity progressive reinforcement learning for agile maneuvering UAVs

In this work, we present a high fidelity model based progressive reinforcement learning method for control system design for an agile maneuvering UAV. Our work relies on a simulation-based training and testing environment for doing software-in-the-loop (SIL), hardware-in-the-loop (HIL) and integrated flight testing within photo-realistic virtual reality (VR) environment. Through progressive learning with the high fidelity agent and environment models, the guidance and control policies build agile maneuvering based on fundamental control laws. First, we provide insight on development of high fidelity mathematical models using frequency domain system identification. These models are later used to design reinforcement learning based adaptive flight control laws allowing the vehicle to be controlled over a wide range of operating conditions covering model changes on operating conditions such as payload, voltage and damage to actuators and electronic speed controllers (ESCs). We later design outer flight guidance and control laws. Our current work and progress is summarized in this work

A golden ratio for foramen magnum: an anatomical pilot study

Background: The foramen magnum (FM) is an important landmark because of its close relationship to key structures such as the brainstem and spinal cord, an extension of the medulla oblongata. Because of the similarity in their shape, the existence of a relationship between cranial length and anteroposterior diameter of the FM, and between cranial width and transverse diameter of the FM may reveal the magnificent harmony of the skull and FM. Based on this idea, we investigated the existence of this harmony in skulls that we used in our study. Materials and methods: In this study, 60 adult dry skulls belonging to the Turkish population were examined. The anteroposterior and transverse diameters of the foramen magnum and the length and width of the skull were measured. Measurements were made directly on the skull using a digital sliding caliper. New indices and ratios were applied with those measurements. Results: Our study suggests that FM width and FM length could be estimated by using the cranial length and cranial width measurements in the skull by accepting the mean of these coefficients (4.62) as the golden ratio. The average of the coefficients of cranial width to FM width ratio [4.62 ± 0.35 (95% CI: 4.52-4.70)] and the average of the coefficients of cranial length to the FM length ratio [4.62 ± 0.50 (95% CI): 4.49-4.76)] were found to be equal to each other. In order to check the accuracy of this hypothesis, FM width and FM lengths were estimated with the help of new equations. Conclusions: In the present study, the ratio between the anteroposterior and transverse diameters of both FM and the cranium was estimated at 4.62, indicating a magnificent harmony between cranial and subcranial structures. With this ratio, it is easy to estimate FM's size based on simple cranial measurements

Conservation value of the native Hungarian wild grape (Vitis sylvestris Gmel.) evaluated by microsatellite markers

Wild grape (Vitis sylvestris GMEL.) has became a highly threatened species in Europe because of habitat loss, competition with alien grape species and intensive forest exploitation. Twenty-three Vitis spp. samples were analysed at 8 microsatellite loci to estimate the genetic diversity of the natural Vitis sylvestris specimens. In order to analyse the morphological traits and to perform molecular analysis, 11 native individuals were sampled from 6 remnant Hungarian habitats of the wild grape. To compare the genetic relationships among the wild specimens, samples from Turkish habitats, as well as cultivars of Vitis vinifera, Vitis labrusca and Vitis riparia were also included. Genetic diversity was higher within the Hungarian wild grape locations, with a mean of He = 0.74, which was higher that of samples originating from a larger area of Turkey, He = 0.69. Most of the Hungarian samples formed a well-defined, separate branch on the NJ tree. Based on the morphological traits and molecular analysis on the territory of Szentendre Island, formerly considered to be one of the largest native locations of wild grape, interspecific hybrids of Vitis sylvestris and Vitis riparia were identified. It can be concluded from the results that most of the Hungarian habitats studied could be valuable for the conservation. This paper reports on Hungarian Vitis sylvestris habitats, providing the first genetic study on diversity and on the relationship of Vitis sylvestris to other Vitis specimens, wild or cultivated, in the central part of the Carpathian Basin

Diagnostic and prognostic role of TFF3, Romo-1, NF-кB and SFRP4 as biomarkers for endometrial and ovarian cancers: a prospective observational translational study

Purpose: This study aimed to evaluate trefoil factor 3 (TFF3), secreted frizzled-related protein 4 (sFRP4), reactive oxygen species modulator 1 (Romo1) and nuclear factor kappa B (NF-κB) as diagnostic and prognostic markers of endometrial cancer (EC) and ovarian cancer (OC). Methods: Thirty-one patients with EC and 30 patients with OC undergone surgical treatment were enrolled together with 30 healthy controls in a prospective study. Commercial ELISA kits determined serum TFF-3, Romo-1, NF-кB and sFRP-4 concentrations. Results: Serum TFF-3, Romo-1 and NF-кB levels were significantly higher in patients with EC and OC than those without cancer. Regarding EC, none of the serum biomarkers differs significantly between endometrial and non-endometrioid endometrial carcinomas. Mean serum TFF-3 and NF-кB levels were significantly higher in advanced stages. Increased serum levels of TFF-3 and NF-кB were found in those with a higher grade of the disease. Regarding OC, none of the serum biomarkers differed significantly among histological subtypes. Significantly increased serum levels of NF-кB were observed in patients with advanced-stage OC than those with stage I and II diseases. No difference in serum biomarker levels was found between those who had a recurrence and those who had not. The sensibility and specificity of these four biomarkers in discriminating EC and OC from the control group showed encouraging values, although no one reached 70%. Conclusions: TFF-3, Romo-1, NF-кB and SFRP4 could represent new diagnostic and prognostic markers for OC and EC. Further studies are needed to validate our results

Utilizing image texture to detect land-cover change in Mediterranean coastal wetlands

Land-use/cover change dynamics were investigated in a Mediterranean coastal wetland. Change Vector Analysis (CVA) without and with image texture derived from the co-occurrence matrix and variogram were evaluated for detecting land-use/cover change. Three Landsat Thematic Mapper (TM) scenes recorded on July 1985, 1993 and 2005 were used, minimizing change detection error caused by seasonal differences. Images were geometrically, atmospherically and radiometrically corrected. CVA without and with texture measures were implemented and assessed using reference images generated by object-based supervised classification. These outputs were used for cross-classification to determine the ‘from–to’ change used to compare between techniques. The Landsat TM image bands together with the variogram yielded the most accurate change detection results, with Kappa statistics of 0.7619 and 0.7637 for the 1985–1993 and 1993–2005 image pairs, respectively

A Formal Treatment of Hardware Wallets

Bitcoin, being the most successful cryptocurrency, has been repeatedly attacked with many users losing their funds. The industry\u27s response to securing the user\u27s assets is to offer tamper-resistant hardware wallets. Although such wallets are considered to be the most secure means for managing an account, no formal attempt has been previously done to identify, model and formally verify their properties. This paper provides the first formal model of the Bitcoin hardware wallet operations. We identify the properties and security parameters of a Bitcoin wallet and formally define them in the Universal Composition (UC) Framework. We present a modular treatment of a hardware wallet ecosystem, by realizing the wallet functionality in a hybrid setting defined by a set of protocols. This approach allows us to capture in detail the wallet\u27s components, their interaction and the potential threats. We deduce the wallet\u27s security by proving that it is secure under common cryptographic assumptions, provided that there is no deviation in the protocol execution. Finally, we define the attacks that are successful under a protocol deviation, and analyze the security of commercially available wallets

Search for the standard model Higgs boson in the H to ZZ to 2l 2nu channel in pp collisions at sqrt(s) = 7 TeV

A search for the standard model Higgs boson in the H to ZZ to 2l 2nu decay channel, where l = e or mu, in pp collisions at a center-of-mass energy of 7 TeV is presented. The data were collected at the LHC, with the CMS detector, and correspond to an integrated luminosity of 4.6 inverse femtobarns. No significant excess is observed above the background expectation, and upper limits are set on the Higgs boson production cross section. The presence of the standard model Higgs boson with a mass in the 270-440 GeV range is excluded at 95% confidence level.Comment: Submitted to JHE

Search for New Physics with Jets and Missing Transverse Momentum in pp collisions at sqrt(s) = 7 TeV

A search for new physics is presented based on an event signature of at least three jets accompanied by large missing transverse momentum, using a data sample corresponding to an integrated luminosity of 36 inverse picobarns collected in proton--proton collisions at sqrt(s)=7 TeV with the CMS detector at the LHC. No excess of events is observed above the expected standard model backgrounds, which are all estimated from the data. Exclusion limits are presented for the constrained minimal supersymmetric extension of the standard model. Cross section limits are also presented using simplified models with new particles decaying to an undetected particle and one or two jets