Design and Development of an Integrated Mobile Robot System for Use in Simple Formations

In recent years, formation control of autonomous unmanned vehicles has become an active area of research with its many broad applications in areas such as transportation and surveillance. The work presented in this thesis involves the design and implementation of small unmanned ground vehicles to be used in leader-follower formations. This mechatronics project involves breadth in areas of mechanical, electrical, and computer engineering design. A vehicle with a unicycle-type drive mechanism is designed in 3D CAD software and manufactured using 3D printing capabilities. The vehicle is then modeled using the unicycle kinematic equations of motion and simulated in MATLAB/Simulink. Simple motion tasks are then performed onboard the vehicle utilizing the vehicle model via software, and leader-follower formations are implemented with multiple vehicles

Development of a variable-speed, doubly-fed wind power generation system

Generation of electricity from the wind is becoming increasing popular as an environmentally responsible resource. Current methods for generating electricity from the wind involve the use of fixed-speed generators. However, the use of variable-speed generators increases the amount of energy that can be extracted from the wind. Most variable-speed technologies require processing large amounts power electronically. In large utility-scale generation systems the added cost of the power electronics may make variable-speed generation too expensive. A reduction in the size of the power electronics is achieved when using the brushless doubly-fed machine. A proof-of-concept system has been developed to evaluate not only the advantages of variable-speed technology, but the advantages of using the brushless doubly-fed machine. The prototype system uses a two-bladed turbine with a diameter of 2.75 meters. The prototype system produces a maximum of 1500 watts in wind speeds ranging from 0 to 40 miles per hour. Experimental data illustrates the performance of the machine over a wide range of power levels. The machine exhibits satisfactory efficiency. Experimental results show that converter rating of the prototype system is one-fifth of that of a conventional variable-speed system. The proof-of-concept system shows that the brushless doubly-fed machine has superior features as compared to other systems. Future research needs to evaluate its use in a utility-scale environment

Initialization and Ensemble Generation for Decadal Climate Predictions: A Comparison of Different Methods

Five initialization and ensemble generation methods are investigated with respect to their impact on the prediction skill of the German decadal prediction system “Mittelfristige Klimaprognose” (MiKlip). Among the tested methods, three tackle aspects of model‐consistent initialization using the ensemble Kalman filter, the filtered anomaly initialization, and the initialization method by partially coupled spin‐up (MODINI). The remaining two methods alter the ensemble generation: the ensemble dispersion filter corrects each ensemble member with the ensemble mean during model integration. And the bred vectors perturb the climate state using the fastest growing modes. The new methods are compared against the latest MiKlip system in the low‐resolution configuration (Preop‐LR), which uses lagging the climate state by a few days for ensemble generation and nudging toward ocean and atmosphere reanalyses for initialization. Results show that the tested methods provide an added value for the prediction skill as compared to Preop‐LR in that they improve prediction skill over the eastern and central Pacific and different regions in the North Atlantic Ocean. In this respect, the ensemble Kalman filter and filtered anomaly initialization show the most distinct improvements over Preop‐LR for surface temperatures and upper ocean heat content, followed by the bred vectors, the ensemble dispersion filter, and MODINI. However, no single method exists that is superior to the others with respect to all metrics considered. In particular, all methods affect the Atlantic Meridional Overturning Circulation in different ways, both with respect to the basin‐wide long‐term mean and variability and with respect to the temporal evolution at the 26° N latitude

ATPase mechanism of the 5'-3' DNA helicase, RecD2: evidence for a pre-hydrolysis conformation change

The superfamily 1 helicase, RecD2, is a monomeric, bacterial enzyme with a role in DNA repair, but with 5'-3' activity unlike most enzymes from this superfamily. Rate constants were determined for steps within the ATPase cycle of RecD2 in the presence of ssDNA. The fluorescent ATP analog, mantATP (2'(3')-O-(N-methylanthraniloyl)ATP), was used throughout to provide a complete set of rate constants and determine the mechanism of the cycle for a single nucleotide species. Fluorescence stopped-flow measurements were used to determine rate constants for adenosine nucleotide binding and release, quenched-flow measurements were used for the hydrolytic cleavage step, and the fluorescent phosphate biosensor was used for phosphate release kinetics. Some rate constants could also be measured using the natural substrate, ATP, and these suggested a similar mechanism to that obtained with mantATP. The data show that a rearrangement linked to Mg(2+) coordination, which occurs before the hydrolysis step, is rate-limiting in the cycle and that this step is greatly accelerated by bound DNA. This is also shown here for the PcrA 3'-5' helicase and so may be a general mechanism governing superfamily 1 helicases. The mechanism accounts for the tight coupling between translocation and ATPase activity

Backshell Radiative Heating on Human-Scale Mars Entry Vehicles

This work quantifies the backshell radiative heating experienced by payloads on human- scale vehicles entering the Martian atmosphere. Three underlying configurations were studied: a generic sphere, a sphere-cone forebody with a cylindrical payload, and an ellipsled. Computational fluid dynamics simulations of the flow field and radiation were performed using the LAURA and HARA codes, respectively. Results of this work indicated the primary contributor to radiative heating is emission from the CO2 IR band system. Furthermore, the backshell radiation component of heating can persist lower than 2 km/s during entry and descent. For the sphere-cone configuration a peak heat flux of about 3.5 W/cm(exp. 2) was observed at the payload juncture during entry. At similar conditions, the ellipsled geometry experienced about 1.25 W/cm(exp. 2) on the backshell, but as much as 8 W/cm(exp. 2) on the base at very high angle of attack. Overall, this study sheds light on the potential magnitudes of backshell radiative heating that various configurations may experience. These results may serve as a starting point for thermal protection system design or configuration changes necessary to accommodate thermal radiation levels

Higher measured than modeled ozone production at increased NOx levels in the Colorado Front Range

Abstract. Chemical models must correctly calculate the ozone formation rate, P(O3), to accurately predict ozone levels and to test mitigation strategies. However, air quality models can have large uncertainties in P(O3) calculations, which can create uncertainties in ozone forecasts, especially during the summertime when P(O3) is high. One way to test mechanisms is to compare modeled P(O3) to direct measurements. During summer 2014, the Measurement of Ozone Production Sensor (MOPS) directly measured net P(O3) in Golden, CO, approximately 25 km west of Denver along the Colorado Front Range. Net P(O3) was compared to rates calculated by a photochemical box model that was constrained by measurements of other chemical species and that used a lumped chemical mechanism and a more explicit one. Median observed P(O3) was up to a factor of 2 higher than that modeled during early morning hours when nitric oxide (NO) levels were high and was similar to modeled P(O3) for the rest of the day. While all interferences and offsets in this new method are not fully understood, simulations of these possible uncertainties cannot explain the observed P(O3) behavior. Modeled and measured P(O3) and peroxy radical (HO2 and RO2) discrepancies observed here are similar to those presented in prior studies. While a missing atmospheric organic peroxy radical source from volatile organic compounds co-emitted with NO could be one plausible solution to the P(O3) discrepancy, such a source has not been identified and does not fully explain the peroxy radical model–data mismatch. If the MOPS accurately depicts atmospheric P(O3), then these results would imply that P(O3) in Golden, CO, would be NOx-sensitive for more of the day than what is calculated by models, extending the NOx-sensitive P(O3) regime from the afternoon further into the morning. These results could affect ozone reduction strategies for the region surrounding Golden and possibly other areas that do not comply with national ozone regulations. Thus, it is important to continue the development of this direct ozone measurement technique to understand P(O3), especially under high-NOx regimes

Introduction to the Deep Convective Clouds and Chemistry (DC3) 2012 Studies

The Deep Convective Clouds and Chemistry (DC3) project aimed to determine the impact ofdeep, midlatitude continental convective clouds on tropospheric composition and chemistry. The DC3field campaign was conducted over a broad area of the central United States during May&ndash;June 2012. Datacollected by DC3 have been extensively analyzed, with many results published in Deep Convective Cloudsand Chemistry 2012 Studies (DC3), a joint special section of JGR Atmospheres and Geophysical ResearchLetters. This paper highlights key results from the DC3 project as an introduction to the special issue.</p

Gender-Based Differences in Drug Prescription: Relation to Adverse Drug Reactions

Background/Aim: The female gender appears to suffer from more adverse drug reactions (ADRs) than the male gender. So far, there has been no epidemiologic study analyzing gender-based differences in drug prescribing and its ADR risks. The aim of the present study was to establish a drug risk stratification adjusted to age, number of prescriptions and drug classes with respect to gender differences based on intensive data acquisition methods. Method: A prospective multicenter study was conducted in several departments in Germany and Israel (pediatrics, medicine and geriatrics) enclosing 2,371 inpatients. Results: A total of 25,532 drug prescriptions during hospitalization were evaluated. At least 1 ADR was found in 774 patients (32.6%). Drugs for the cardiovascular system, nervous system, alimentary tract and musculoskeletal system were prescribed most often in females. The following drug classes led significantly more often to ADRs in women as compared to men: alimentary tract (OR 0.5; p = 0.0002), cardiovascular system (OR 0.72; p = 0.0140), musculoskeletal system (OR 0.31; p = 0.0004) and nervous system (OR 0.62; p = 0.0023). After adjustment to age, total number of prescriptions and drug class, only antiinfectives (antibacterials) and musculoskeletal system (antiinflammatory) drugs stand out as causing more ADRs in women. Conclusion: Antibacterials and anti-inflammatory agents cause more ADRs in females as compared to males