Autonomous control of underground mining vehicles using reactive navigation

Describes how many of the navigation techniques developed by the robotics research community over the last decade may be applied to a class of underground mining vehicles (LHDs and haul trucks). We review the current state-of-the-art in this area and conclude that there are essentially two basic methods of navigation applicable. We describe an implementation of a reactive navigation system on a 30 tonne LHD which has achieved full-speed operation at a production mine

Protein characteristics of Chinese black-grained wheat

Protein properties of black-grained wheat (BGW) were compared with those of five carefully selected wheat controls (Taifen 1, Klasic, Yecora Rojo, Glenlea and Anza) in order to find potential uses for BGW. Protein content, mixing properties, gluten index and amino acid composition were measured. BGW whole meal had a higher protein content (17.71%) than was found in controls. Gluten index of BGW flour (69.74) was generally low compared to controls. Mid-line peak times determined using mixograph were significantly longer (p < 0.05) for most controls (5.41-6.27 min) in comparison to BGW flour (<3.00 min). Dough stickiness (223.76 g) of BGW was somewhat stronger than that of Klasic and CES flours. Total essential amino acid and total amino acid contents in whole meal were 4.45% and 15.74%, respectively, for BGW. The amino acid composition was relatively stable after high-temperature drying of wet BGW gluten. In vitro protein digestibility of BGW wheat meal was the lowest. © 2005 Elsevier Ltd. All rights reserved.postprin

Granny flats : a housing option for the elderly

vi, 43 p

Water-Saving Traits Can Protect Wheat Grain Number Under Progressive Soil Drying at the Meiotic Stage:A Phenotyping Approach

In wheat, water deficit during meiosis of pollen mother cells greatly reduces seed set and grain number. A promising option to avoid grain losses and maintain wheat productivity under water stress is to exploit conservative water-use strategies during reproduction. In this work, two cultivars known to be adapted to different environments were studied. Water stress, with or without a polymer spray known to reduce stomatal conductance, was applied to both cultivars just prior to meiosis. Two experiments were carried out in a phenotyping platform to (1) assess and validate daily non-destructive estimation of projected leaf area and to (2) evaluate different water-use (WU) strategies across the meiotic period and their effect on physiology and yield components. Gladius displays an elevated breakpoint (BP) in the regression of WU against fraction of transpirable soil water (FTSW) for both daily and night-time WU suggesting higher conservative whole-plant response when compared to Paragon. At the same time, Gladius maintained flag leaf gas-exchange with a significant reduction at ~ 0.2 FTSW only, suggesting an uncoupled mechanism of WU reduction that optimized the water resource available for flag leaf gas-exchange maintenance. Under progressive soil drying, seed set and grain number of tillers stressed at GS41 were significantly reduced in Paragon (p < 0.05) thus leading to lower grain yield and grain number at plant level than Gladius. Polymer-induced reduction of transpiration is potentially useful when applied to the non-conservative stressed Paragon, maintaining higher FTSW, water-use efficiency and RWC during the progressive soil drying treatment. This led to better seed set (p < 0.05) and grain number maintenance (p < 0.05) than in the stressed Paragon control. We conclude that the different conservative traits detected in this work, protect grain development around meiosis and therefore maintain grain number under water-limiting conditions. Additionally, non-conservative genotypes (often with a greater expected yield potential) can be protected at key stages by reducing their water use with a polymer spray. Thus, future efforts can integrate both crop breeding and management strategies to achieve drought-resilience during the early reproductive phase in wheat and potentially other cereals

Improved Parton Showers at Large Transverse Momenta

Several methods to improve the parton-shower description of hard processes by an injection of matrix-element-based information have been presented over the years. In this article we study (re)weighting schemes for the first/hardest emission. One objective is to provide a consistent matching of the POWHEG next-to-leading order generator to the Pythia shower algorithms. Another is to correct the default behaviour of these showers at large transverse momenta, based on a comparison with real-emission matrix elements

Effects of salt water on the ballistic protective performance of bullet-resistant body armour

Bullet-resistant body armour is used by law enforcement agencies and military personnel worldwide, often in inclement weather. Some fibre types used in body armour perform poorly when wet, resulting in a reduced level of protection; this is why most body armour protective elements are water-repellent treated and/or protected by a water-resistant cover. Some of the users operate in the maritime environment. The effect of salt water on body armour performance has not been previously reported. In this work the effect of soaking body armour in salt water and exposing body armour for up to 10 soaking and drying cycles in salt water was investigated. The effectiveness of the water-resistant cover was investigated by considering three cover conditions: (i) intact, (ii) cut and (iii) removed. Wet armour was heavier and provided significantly less protection from 9 mm Luger FMJ ammunition when compared to not-exposed armour irrespective of cover condition. A degradation in performance of armours exposed to soaking and drying cycles was noted, but this was similar across all regimes considered (one, three, five and ten cycles) and not as great as for wet armours

Supersymmetry and Generic BSM Models in PYTHIA 8

We describe the implementation of supersymmetric models in PYTHIA 8, including production and decay of superparticles and allowing for violation of flavour, CP, and R-parity. We also present a framework for importing generic new-physics matrix elements into PYTHIA 8, in a way suitable for use with automated tools. We emphasize that this possibility should not be viewed as the only way to implement new-physics models in PYTHIA 8, but merely as an additional possibility on top of the already existing ones. Finally we address parton showers in exotic colour topologies, in particular ones involving colour epsilon tensors and colour sextets.Comment: 20 page

Matching Tree-Level Matrix Elements with Interleaved Showers

We present an implementation of the so-called CKKW-L merging scheme for combining multi-jet tree-level matrix elements with parton showers. The implementation uses the transverse-momentum-ordered shower with interleaved multiple interactions as implemented in PYTHIA8. We validate our procedure using e+e--annihilation into jets and vector boson production in hadronic collisions, with special attention to details in the algorithm which are formally sub-leading in character, but may have visible effects in some observables. We find substantial merging scale dependencies induced by the enforced rapidity ordering in the default PYTHIA8 shower. If this rapidity ordering is removed the merging scale dependence is almost negligible. We then also find that the shower does a surprisingly good job of describing the hardness of multi-jet events, as long as the hardest couple of jets are given by the matrix elements. The effects of using interleaved multiple interactions as compared to more simplistic ways of adding underlying-event effects in vector boson production are shown to be negligible except in a few sensitive observables. To illustrate the generality of our implementation, we also give some example results from di-boson production and pure QCD jet production in hadronic collisions.Comment: 44 pages, 23 figures, as published in JHEP, including all changes recommended by the refere