Replanning of multiple autonomous vehicles in material handling

The fully automated docks in Australia present opportunities for applications of autonomous vehicles and engineering innovation. When planning tasks to be done by multi-autonomous vehicles in an enclosed area with a known dynamic map (i.e. bi-directional path network), there are many issues that have not yet been comprehensively solved. The real world presents more complexity than the initial algorithms addressed. There are problems that occur due to interaction with the real-world. This means autonomous vehicles can stop, are affected, or face problems, and hence tasks and vehicles' paths and motion need to be replanned. In order to replan, a greater understanding of the state of vehicles, the state of the map, and importantly the importance of tasks and vehicles is definitely needed. This paper explores the improvements made to replanning by gaining a thorough understanding of the map and then utilising map information to make the best, most efficient replanning decision. Five replanning Methods are investigated and four Options which combine the Methods in different ways, are tested in this research. A map analysis Method is also presented. Simulation studies show that map information based replanning is the most efficient Method out of those tested. © 2006 IEEE

An algorithm for surface growing from laser scan generated point clouds

In robot applications requiring interaction with a partially/unknown environment, mapping is of paramount importance. This paper presents an effective surface growing algorithm for map building based on laser scan generated point clouds. The algorithm directly converts a point cloud into a surface and normals form which sees a significant reduction in data size and is in a desirable format for planning the interaction with surfaces. It can be used in applications such as robotic cleaning, painting and welding. © 2007 Springer-Verlag Berlin Heidelberg

Wind profiles in the boundary layer over Kharagpur associated with synoptic scale systems

Doppler sodar wind data for the boundary layer over Kharagpur obtained during MONTBLEX-1990 at a height interval of 30 m from surface up to 1500 m have been analysed for the periods when intense synoptic scale disturbances from north Bay of Bengal moved along the eastern end of the monsoon trough. The variation in the vertical wind profile in the lower boundary layer over Kharagpur during the passage of synoptic scale disturbances has been discussed in the paper. The analysis indicates that the mean winds over Kharagpur veered with height in the lower boundary layer near the surface suggesting divergence over Kharagpur when the system lay south/southwest of the station. No such veering has been noticed when the centre of the system lay very close to the station

Transfusion related acute lung injury presenting with acute dyspnoea: a case report

<p>Abstract</p> <p>Introduction</p> <p>Transfusion-related acute lung injury is emerging as a common cause of transfusion-related adverse events. However, awareness about this entity in the medical fraternity is low and it, consequently, remains a very under-reported and often an under-diagnosed complication of transfusion therapy.</p> <p>Case presentation</p> <p>We report a case of a 46-year old woman who developed acute respiratory and hemodynamic instability following a single unit blood transfusion in the postoperative period. Investigation results were non-specific and a diagnosis of transfusion-related acute lung injury was made after excluding other possible causes of acute lung injury. She responded to symptomatic management with ventilatory and vasopressor support and recovered completely over the next 72 hours.</p> <p>Conclusion</p> <p>The diagnosis of transfusion-related acute lung injury relies on excluding other causes of acute pulmonary edema following transfusion, such as sepsis, volume overload, and cardiogenic pulmonary edema. All plasma containing blood products have been implicated in transfusion-related acute lung injury, with the majority being linked to whole blood, packed red blood cells, platelets, and fresh-frozen plasma. The pathogenesis of transfusion-related acute lung injury may be explained by a "two-hit" hypothesis, involving priming of the inflammatory machinery and then activation of this primed mechanism. Treatment is supportive, with prognosis being substantially better than for most other causes of acute lung injury.</p

Bare Below the Elbows: A comparative study of a tertiary and district general hospital.

A \u27Bare Below the Elbows\u27 (BBTE) dress code policy has been introduced by the majority of NHS trusts in the UK. The aim of this Irish study was to evaluate the impact of an educational intervention on perception of medical attire. The study was carried out in two centres: a tertiary referral centre (Beaumont Hospital) and a district hospital (MRH, Portlaoise). Two questionnaires, incorporating photographic evaluation of appropriate attire for consultants and junior doctors, were completed pre and post BBTE education. One hundred and five patients participated. Analysis pre BBTE education indicated patients considered formal attire and white coats most appropriate for consultants and junior doctors respectively. Post-intervention analysis revealed a significant reduction in the popularity of both (

An accurate test for homogeneity of odds ratios based on Cochran's Q-statistic

Background: A frequently used statistic for testing homogeneity in a meta-analysis of K independent studies is Cochran's Q. For a standard test of homogeneity the Q statistic is referred to a chi-square distribution with K - 1 degrees of freedom. For the situation in which the effects of the studies are logarithms of odds ratios, the chi-square distribution is much too conservative for moderate size studies, although it may be asymptotically correct as the individual studies become large. Methods: Using a mixture of theoretical results and simulations, we provide formulas to estimate the shape and scale parameters of a gamma distribution to t the distribution of Q. Results: Simulation studies show that the gamma distribution is a good approximation to the distribution for Q. Conclusions: : Use of the gamma distribution instead of the chi-square distribution for Q should eliminate inaccurate inferences in assessing homogeneity in a meta-analysis. (A computer program for implementing this test is provided.) This hypothesis test is competitive with the Breslow-Day test both in accuracy of level and in power

Upper and lower tropospheric energetics of standing and transient eddies in wave number domain during summer monsoon of 1991

Kinetic energy exchange equations (Saltzman 1957) in wave number domain are partitioned into standing, transient and standing-transient components following Murakami (1978, 1981). These components are computed for the 1991 summer monsoon using daily u and v grid point data at 2.5° latitude-longitude interval between the equator and 40°N at 200 hPa and 850 hPa levels for the period June through August. The data are obtained from NCMRWF, New Delhi. The study shows that at 200 hPa wave number 1 over Region 3 (30°N to 40°N), wave number 2 over Region 2 (15°N to 30°N) and wave number 3 over Region 1 (equator to 15°N) dominate the spectrum of transport of momentum and wave to zonal mean flow interaction. Wave number 1 over Region 1 and Region 3 and wave number 2 over Region 2 are the major sources of kinetic energy to other waves via wave-to-wave interaction. At 850 hPa wave number 1 over Region 3 has maximum contribution in the spectrum of transport of momentum and kinetic energy and more than 90 of its contribution is from the standing component. This indicates that standing wave number 1 over Region 3 plays a very important role in the dynamics of monsoon circulation of the lower troposphere. The study further shows that although the circulation patterns at 200 hPa and 850 hPa levels are opposite in character, a number of energy processes exhibit a similar character at these levels. For example, (i) transport of momentum by most of the waves is northward, (ii) small scale eddies intensify northward, (iii) eddies are sources of kinetic energy to zonal mean flow over Region 1 and (iv) standing eddies are sources of kinetic energy to transient eddies. Besides the above similarities some contrasting energy processes are also observed. Over Region 2 and Region 3 standing and transient eddies are sources of kinetic energy to zonal mean flow at 200 hPa, while at 850 hPa the direction of exchange of kinetic energy is opposite i.e. zonal mean flow is a source of kinetic energy to standing as well as transient eddies. L(n) interaction indicates that at 200 hPa waves over R2 maintain waves over R1, while at 850 hPa waves over R1 maintain waves over R2. It has been found that the north-south gradient of zonal mean of zonal wind is the deciding factor of wave to zonal mean flow interaction

FluxEngine: A Flexible Processing System for Calculating Atmosphere–Ocean Carbon Dioxide Gas Fluxes and Climatologies

The air–sea flux of greenhouse gases [e.g., carbon dioxide (CO2)] is a critical part of the climate system and a major factor in the biogeochemical development of the oceans. More accurate and higher-resolution calcu- lations of these gas fluxes are required if researchers are to fully understand and predict future climate. Satellite Earth observation is able to provide large spatial-scale datasets that can be used to study gas fluxes. However, the large storage requirements needed to host such data can restrict its use by the scientific com- munity. Fortunately, the development of cloud computing can provide a solution. This paper describes an open-source air–sea CO2 flux processing toolbox called the ‘‘FluxEngine,’’ designed for use on a cloud- computing infrastructure. The toolbox allows users to easily generate global and regional air–sea CO2 flux data from model, in situ, and Earth observation data, and its air–sea gas flux calculation is user configurable. Its current installation on the Nephalae Cloud allows users to easily exploit more than 8 TB of climate-quality Earth observation data for the derivation of gas fluxes. The resultant netCDF data output files contain .20 data layers containing the various stages of the flux calculation along with process indicator layers to aid interpretation of the data. This paper describes the toolbox design, which verifies the air–sea CO2 flux calculations; demon- strates the use of the tools for studying global and shelf sea air–sea fluxes; and describes future developments

A robotic system for steel bridge maintenance: Research challenges and system design

This paper presents the research on and development of a robotic system for stripping paint and rust from steel bridges, with the ultimate objective of preventing human exposure to hazardous and dangerous debris (containing rust, paint particles, lead and/or asbestos), relieving human workers from labor intensive tasks and reducing costs associated with bridge maintenance. The robot system design, the key research challenges and enabling technologies and system development are discussed in detail. Research results obtained so far and discussions on some key issues are also presented