Bilinear modeling and nonlinear estimation

New methods are illustrated for online nonlinear estimation applied to the lateral deflection of an elastic beam on board measurements of angular rates and angular accelerations. The development of the filter equations, together with practical issues of their numerical solution as developed from global linearization by nonlinear output injection are contrasted with the usual method of the extended Kalman filter (EKF). It is shown how nonlinear estimation due to gyroscopic coupling can be implemented as an adaptive covariance filter using off-the-shelf Kalman filter algorithms. The effect of the global linearization by nonlinear output injection is to introduce a change of coordinates in which only the process noise covariance is to be updated in online implementation. This is in contrast to the computational approach which arises in EKF methods arising by local linearization with respect to the current conditional mean. Processing refinements for nonlinear estimation based on optimal, nonlinear interpolation between observations are also highlighted. In these methods the extrapolation of the process dynamics between measurement updates is obtained by replacing a transition matrix with an operator spline that is optimized off-line from responses to selected test inputs

Design, Development & Flight Testing Of The U.S. Army 4200 sq ft Parafoil Recovery System

The purpose of this paper is to describe the design, development and flight testing of the U.S. Army 4200 ft(sup 2) parafoil recovery system built under NASA Contract NAS9-00076. The 4200 ft(sup 2) parafoil described herein was a potential candidate to fulfill the U.S. Army requirement for a 10,000 lb useable payload precision guided recovery system. Design heritage as well as specific features, like lower surface inlets, confluence fitting, upper surface energy modulator design, deployment bag design and 60 ft diameter Ringslot drogue will be discussed. Initial flight test results, ground testing of various components to verify design margin and configuration changes will also be discussed. The 4200 ft(sup 2) parafoil recovery system completed three flight tests during 2003 at payload weights of over 15,000 lbs

Synthetic perspective optical flow: Influence on pilot control tasks

One approach used to better understand the impact of visual flow on control tasks has been to use synthetic perspective flow patterns. Such patterns are the result of apparent motion across a grid or random dot display. Unfortunately, the optical flow so generated is based on a subset of the flow information that exists in the real world. The danger is that the resulting optical motions may not generate the visual flow patterns useful for actual flight control. Researchers conducted a series of studies directed at understanding the characteristics of synthetic perspective flow that support various pilot tasks. In the first of these, they examined the control of altitude over various perspective grid textures (Johnson et al., 1987). Another set of studies was directed at studying the head tracking of targets moving in a 3-D coordinate system. These studies, parametric in nature, utilized both impoverished and complex virtual worlds represented by simple perspective grids at one extreme, and computer-generated terrain at the other. These studies are part of an applied visual research program directed at understanding the design principles required for the development of instruments displaying spatial orientation information. The experiments also highlight the need for modeling the impact of spatial displays on pilot control tasks

cis-6-Methoxycarbonyl-2,10-dioxa-1-phosphabicyclo[4.4.0]decane 1-Oxide

The crystal structure of the title compound, C9H1505P, is described. The molecule consists of two cis-fused six-membered rings, both in the chair conformation.

Performing joint measurements and transformations on several qubits by operating on a single control qubit

An n-qubit quantum register can in principle be completely controlled by operating on a single qubit that interacts with the register via an appropriate fixed interaction. We consider a hypothetical system consisting of n spin-1/2 nuclei that interact with an electron spin via a magnetic interaction. We describe algorithms that measure non-trivial joint observables on the register by acting on the control spin only. For large n this is not an efficient model for universal quantum computation but it can be modified to an efficient one if one allows n possible positions of the control particle. This toy model of measurements illustrates in which way specific interactions between the register and a probe particle support specific types of joint measurements in the sense that some joint observables can be measured by simple sequences of operations on the probe particle.Comment: 7 pages, revtex, 3 figure

Charged multivesicular body protein 4b forms complexes with gap junction proteins during lens fiber cell differentiation

Charged multivesicular body protein 4b (CHMP4B) is a core sub-unit of the endosomal sorting complex required for transport III (ESCRT-III) machinery that serves myriad remodeling and scission processes of biological membranes. Mutation of the human CHMP4B gene underlies rare forms of early-onset lens opacities or cataracts, and CHMP4B is required for lens growth and differentiation in mice. Here, we determine the sub-cellular distribution of CHMP4B in the lens and uncover a novel association with gap junction alpha-3 protein (GJA3) or connexin 46 (Cx46) and GJA8 or Cx50. Immunofluorescence confocal microscopy revealed that CHMP4B localized to cell membranes of elongated fiber cells in the outer cortex of the lens-where large gap junction plaques begin to form-particularly, on the broad faces of these flattened hexagon-like cells in cross-section. Dual immunofluorescence imaging showed that CHMP4B co-localized with gap junction plaques containing Cx46 and/or Cx50. When combined with the in situ proximity ligation assay, immunofluorescence confocal imaging indicated that CHMP4B lay in close physical proximity to Cx46 and Cx50. In Cx46-knockout (Cx46-KO) lenses, CHMP4B-membrane distribution was similar to that of wild-type, whereas, in Cx50-KO lenses, CHMP4B localization to fiber cell membranes was lost. Immunoprecipitation and immunoblotting analyses revealed that CHMP4B formed complexes with Cx46 and Cx50 in vitro. Collectively, our data suggest that CHMP4B forms plasma membrane complexes, either directly and/or indirectly, with gap junction proteins Cx46 and Cx50 that are often associated with ball-and-socket double-membrane junctions during lens fiber cell differentiation

Ubuntu: An African Equity

In this paper the uses of ubuntu in constitutional law, criminal law, administrative law, the law of property, family law, delict and contract are investigated.  Furthermore the theoretical objections to the use of ubuntu are stated and responded to.  It is found that ubuntu provides the South African courts with a metanorm similar to the English notion of equity and that it is being deployed to give voice to something distinctively African.  It promises to lay the foundations for a cohesive, plural, South African legal culture", characterised by notions such as reconciliation, sharing, compassion, civility, responsibility, trust and harmony.  &nbsp

Complexity of decoupling and time-reversal for n spins with pair-interactions: Arrow of time in quantum control

Well-known Nuclear Magnetic Resonance experiments show that the time evolution according to (truncated) dipole-dipole interactions between n spins can be inverted by simple pulse sequences. Independent of n, the reversed evolution is only two times slower than the original one. Here we consider more general spin-spin couplings with long range. We prove that some are considerably more complex to invert since the number of required time steps and the slow-down of the reversed evolutions are necessarily of the order n. Furthermore, the spins have to be addressed separately. We show for which values of the coupling parameters the phase transition between simple and complex time-reversal schemes occurs.Comment: Completely rewritten, new lower bounds on the number of time steps, applications and references adde

Mental Health Status and Perceived Barriers to Seeking Treatment in Rural Reserve Component Veterans

National Guard and Reserve (RC) troops (N=617) primarily from the Appalachian Region in Southwestern Pennsylvania who recently returned from deployment in support of current military conflicts responded to a survey that assessed their demographics, mental health symptoms, help-seeking behaviors, barriers for not seeking treatment, deployment history, and stressors. Veterans were classified as rural (N = 334) or non-rural (N = 283). Rural participants reported a significantly greater number of issues with transportation/access in seeking mental health treatment, were more likely to perceive others as worse off as a reason not to seek treatment, had a more negative attitude toward seeking treatment for mental health problems, and reported fewer concerns about a mental health problem affecting their career. Recommendations for mental health care providers and policymakers are offered based on the results, including the importance of recognizing the distinctive barriers to care that RC Appalachian veterans face when they come back into civilian communities, many of them rural

Parental Choices of Flotation Devices for Children and Teen Swimmers and Waders: A Survey at Beaches in Washington State

Drowning at open-water areas is the second leading cause of unintentional death among Washington State children. Providing written and visual safety instructions and loaned life jackets at swim sites (“loaner boards”) may reduce the risk of drowning. This study sought to understand parental perceptions regarding loaner boards and behaviors related to bringing flotation devices for children to use while swimming. Of the 102 surveys administered to parents on the beach at 10 different open-water sites, 29 were collected from sites with loaner boards. Parents provided information about ages of family members present, flotation devices brought and perceptions surrounding loaner boards. The majority (85%) of families with young children (under six years old), brought some type of flotation device and 59% of them brought life jackets compared to 57% and 8% of families with only children six or older, respectively. Results provide evidence that parents of children younger than 6 years old more often plan for children to use life jackets while swimming; this may partially explain low rates of life jacket use among older children. Findings can guide efforts to increase the efficacy of loaner board programs and develop strategies to promote parental encouragement of life jacket use for older children