Adaptive Sliding Mode Control of Autonomous Underwater Vehicles in the Dive Plane

The problem of controlling an Autonomous Underwater Vehicle (AUV) in a diving maneuver is addressed. The requirement for having a simple controller which performs satisfactorily in the presence of dynamical uncertainties calls for a design using the sliding mode approach, based on a dominant linear model and bounds on the nonlinear perturbations of the dynamics. Both nonadaptive and adaptive techniques are considered, leading to the design of robust controllers that can adjust to the changing dynamics and operating conditions. Also, the problem of using the observed state in the control design is addressed, leading to a sliding mode control system based on input-output signals in terms of dive-plane command and depth measurement. Numerical simulations using a full set of nonlinear equations of motion show the effectiveness of the proposed techniques

A UV to Mid-IR Study of AGN Selection

We classify the spectral energy distributions (SEDs) of 431,038 sources in the 9 sq. deg Bootes field of the NOAO Deep Wide-Field Survey (NDWFS). There are up to 17 bands of data available per source, including ultraviolet (GALEX), optical (NDWFS), near-IR (NEWFIRM), and mid-infrared (IRAC/MIPS) data, as well as spectroscopic redshifts for ~20,000 objects, primarily from the AGN and Galaxy Evolution Survey (AGES). We fit galaxy, AGN, stellar, and brown dwarf templates to the observed SEDs, which yield spectral classes for the Galactic sources and photometric redshifts and galaxy/AGN luminosities for the extragalactic sources. The photometric redshift precision of the galaxy and AGN samples are sigma/(1+z)=0.040 and sigma/(1+z)=0.169, respectively, with the worst 5% outliers excluded. Based on the reduced chi-squared of the SED fit for each SED model, we are able to distinguish between Galactic and extragalactic sources for sources brighter than I=23.5. We compare the SED fits for a galaxy-only model and a galaxy+AGN model. Using known X-ray and spectroscopic AGN samples, we confirm that SED fitting can be successfully used as a method to identify large populations of AGN, including spatially resolved AGN with significant contributions from the host galaxy and objects with the emission line ratios of "composite" spectra. We also use our results to compare to the X-ray, mid-IR, optical color and emission line ratio selection techniques. For an F-ratio threshold of F>10 we find 16,266 AGN candidates brighter than I=23.5 and a surface density of ~1900 AGN per deg^2.Comment: Submitted to ApJ, 35 pages, 17 figures, 2 table

Evidence for mechanisms underlying the functional benefits of a myocardial matrix hydrogel for post-MI treatment

Background There is increasing need for better therapies to prevent the development of heart failure after myocardial infarction (MI). An injectable hydrogel derived from decellularized porcine ventricular myocardium has been shown to halt the post-infarction progression of negative left ventricular remodeling and decline in cardiac function in both small and large animal models. Objectives This study sought to elucidate the tissue-level mechanisms underlying the therapeutic benefits of myocardial matrix injection. Methods Myocardial matrix or saline was injected into infarcted myocardium 1 week after ischemia-reperfusion in Sprague-Dawley rats. Cardiac function was evaluated by magnetic resonance imaging and hemodynamic measurements at 5 weeks after injection. Whole transcriptome microarrays were performed on RNA isolated from the infarct at 3 days and 1 week after injection. Quantitative polymerase chain reaction and histologic quantification confirmed expression of key genes and their activation in altered pathways. Results Principal component analysis of the transcriptomes showed that samples collected from myocardial matrix-injected infarcts are distinct and cluster separately from saline-injected control subjects. Pathway analysis indicated that these differences are due to changes in several tissue processes that may contribute to improved cardiac healing after MI. Matrix-injected infarcted myocardium exhibits an altered inflammatory response, reduced cardiomyocyte apoptosis, enhanced infarct neovascularization, diminished cardiac hypertrophy and fibrosis, altered metabolic enzyme expression, increased cardiac transcription factor expression, and progenitor cell recruitment, along with improvements in global cardiac function and hemodynamics. Conclusions These results indicate that the myocardial matrix alters several key pathways after MI creating a pro-regenerative environment, further demonstrating its promise as a potential post-MI therapy

Reset dynamics and latching in niobium superconducting nanowire single-photon detectors

We study the reset dynamics of niobium (Nb) superconducting nanowire single-photon detectors (SNSPDs) using experimental measurements and numerical simulations. The numerical simulations of the detection dynamics agree well with experimental measurements, using independently determined parameters in the simulations. We find that if the photon-induced hotspot cools too slowly, the device will latch into a dc resistive state. To avoid latching, the time for the hotspot to cool must be short compared to the inductive time constant that governs the resetting of the current in the device after hotspot formation. From simulations of the energy relaxation process, we find that the hotspot cooling time is determined primarily by the temperature-dependent electron-phonon inelastic time. Latching prevents reset and precludes subsequent photon detection. Fast resetting to the superconducting state is therefore essential, and we demonstrate experimentally how this is achieved

Using Polymeric Ionic Liquids as an Active Binder in Supercapacitors

Electrodes in batteries and supercapacitors generally contain inert binders to maintain their structural integrity during operation but do not participate in the storage of energy. In this paper, we demonstrate that poly ionic liquids can function as structural binders while simultaneously improving the energy storage capability of supercapacitors. Specifically, we show that when the ionic liquid N-butyl-N-methyl pyrrolidinium bis(trifluoromethanesulfonyl)imide is used as electrolyte and poly(diallyldimethylammonium) bis(trifluoromethanesulfonyl)imide is employed as electrode binder the permissible operating voltage of the device is enhanced to 4.0 V. This results in a substantially increased overall specific energy (80% greater) and represents a step toward the development of devices with long cycle lives and high energy densities

A Candidate Dual Active Galactic Nucleus At Z=1.175

The X-ray source CXOXBJ142607.6+353351 (CXOJ1426+35), which was identified in a 172 ks Chandra image in the Bootes field, shows double-peaked rest-frame optical/UV emission lines, separated by 0.''69 (5.5 kpc) in the spatial dimension and by 690 km s(-1) in the velocity dimension. The high excitation lines and emission line ratios indicate both systems are ionized by an active galactic nucleus (AGN) continuum, and the double-peaked profile resembles that of candidate dual AGNs. At a redshift of z = 1.175, this source is the highest redshift candidate dual AGN yet identified. However, many sources have similar emission line profiles for which other interpretations are favored. We have analyzed the substantial archival data available in this field as well as acquired near-infrared (NIR) adaptive optics (AO) imaging and NIR slit spectroscopy. The X-ray spectrum is hard, implying a column density of several 10(23) cm(-2). Though heavily obscured, the source is also one of the brightest in the field, with an absorption-corrected 2-10 keV luminosity of similar to 10(45) erg s(-1). Outflows driven by an accretion disk may produce the double-peaked lines if the central engine accretes near the Eddington limit. However, we may be seeing the narrow line regions of two AGNs following a galactic merger. While the AO image reveals only a single source, a second AGN would easily be obscured by the significant extinction inferred from the X-ray data. Understanding the physical processes producing the complex emission line profiles seen in CXOJ1426+35 and related sources is important for interpreting the growing population of dual AGN candidates.National Science Foundation AST-0708490Strategic University Research Partnership ProgramNational Aeronautics and Space AdministrationW. M. Keck FoundationSmithsonian Astrophysical Observatory SV4-74018, A31Astronom

Platelet-mediated thrombosis in stenosed canine coronary arteries: Inhibition by nicergoline, a platelet-active alpha-adrenergic antagonist

The effects of nicergoline, a new agent that blocks alpha-adrenergic receptors and inhibits platelet phospholipase, were evaluated in a canine model of platelet-mediated coronary thrombosis. In 48 open chest dogs, the circumflex coronary artery was stenosed by plicating the artery wall with a suture. Thirty-four of the 48 dogs exhibited cyclic reductions in flow in the stenotic vessel, followed by a sudden return to control levels. The reductions in flow were unabated in all but two dogs after heparin administration (1,000 U/kg per h), unaffected by large doses of nitroglycerin and nifedipine and associated with platelet aggregates in the stenotic segment (demonstrated by histologic and electron microscopic examination). These observations support the conclusion that the flow reductions were caused by platelet aggregation rather than by fibrin deposition or vasospasm.Twenty dogs were monitored for 1 hour after heparin administration and then assigned to a control (n = 7) or nicergoline-treated (n = 13; 1 mg/kg intravenously) group. In control dogs, cyclic reductions in flow continued unchanged for another hour, whereas in the treated group they were markedly decreased in 1 dog and completely abolished in the other 12 dogs. Aspirin (30 mg/ kg intravenously) suppressed flow reductions in all control dogs, confirming the primary role of platelet aggregation in the phenomenon.This study provides a modified model of platelet-mediated thrombosis in stenosed coronary arteries. Furthermore, the results indicate that nicergoline can effectively interfere with platelet function in vivo. The potent antithrombotic activity exhibited by nicergoline might enhance the therapeutic usefulness of this vasodilator

Effects of the passage of Comet C/2013 A1 (Siding Spring) observed by the Shallow Radar (SHARAD) on Mars reconnaissance orbiter

The close passage of Comet C/2013 A1 (Siding Spring) to Mars provided a unique opportunity to observe the interaction of cometary materials with the Martian ionosphere and atmosphere using the sounding radar SHARAD (SHAllow RADar) aboard Mars Reconnaissance Orbiter. In two nightside observations, acquired in the 10 h following the closest approach, the SHARAD data reveal a significant increase of the total electron content (TEC). The observed TEC values are typical for daylight hours just after dawn or before sunset but are unprecedented this deep into the night. Results support two predictions indicating that cometary pickup O+ ions, or ions generated from the ablation of cometary dust, are responsible for the creation of an additional ion layer

Multiaperture UBVRIzJHKUBVRIzJHK Photometry of Galaxies in the Coma Cluster

We present a set of $UBVRIzJHK_s$ photometry for 745 $J+H$ band selected objects in a $22.5' \times 29.2'$ region centered on the core of the Coma cluster. This includes 516 galaxies and is at least 80% complete to H=16, with a spectroscopically complete sample of 111 cluster members (nearly all with morphological classification) for $H < 14.5$. For each object we present total \cite{kron80} magnitudes and aperture photometry. As an example, we use these data to derive color-magnitude relations for Coma early-type galaxies, measure the intrinsic scatter of these relations and its dependence on galaxy mass, and address the issue of color gradients. We find that the color gradients are mild and that the intrinsic scatter about the color-magnitude relation is small ($\sim 0.05$ mag in $U-V$ and less than $\sim 0.03$ in $B-R$, $V-I$ or $J-K$). There is no evidence that the intrinsic scatter varies with galaxy luminosity, suggesting that the cluster red sequence is established at early epochs over a range of $\sim 100$ in stellar mass.Comment: 41 pages, 5 figures, 18 data tables attached to source files or available on request from R. De propris. Accepted for publication in Astrophysical Journal Supplement Serie

Shallow radar (SHARAD) sounding observations of the Medusae Fossae Formation, Mars

The SHARAD (shallow radar) sounding radar on the Mars Reconnaissance Orbiter detects subsurface reflections in the eastern and western parts of the Medusae Fossae Formation (MFF). The radar waves penetrate up to 580 m of the MFF and detect clear subsurface interfaces in two locations: west MFF between 150 and 155◦ E and east MFF between 209 and 213◦ E. Analysis of SHARAD radargrams suggests that the real part of the permittivity is ∼3.0, which falls within the range of permittivity values inferred from MARSIS data for thicker parts of the MFF. The SHARAD data cannot uniquely determine the composition of the MFF material, but the low permittivity implies that the upper few hundred meters of the MFF material has a high porosity. One possibility is that the MFF is comprised of low-density welded or interlocked pyroclastic deposits that are capable of sustaining the steep-sided yardangs and ridges seen in imagery. The SHARAD surface echo power across the MFF is low relative to typical martian plains, and completely disappears in parts of the east MFF that correspond to the radar-dark Stealth region. These areas are extremely rough at centimeter to meter scales, and the lack of echo power is most likely due to a combination of surface roughness and a low near-surface permittivity that reduces the echo strength from any locally flat regions. There is also no radar evidence for internal layering in any of the SHARAD data for the MFF, despite the fact that tens-of-meters scale layering is apparent in infrared and visible wavelength images of nearby areas. These interfaces may not be detected in SHARAD data if their permittivity contrasts are low, or if the layers are discontinuous. The lack of closely spaced internal radar reflectors suggests that the MFF is not an equatorial analog to the current martian polar deposits, which show clear evidence of multiple internal layers in SHARAD dat