Autonomous Close Formation Flight of Small UAVs Using Vision-Based Localization

As Unmanned Aerial Vehicles (UAVs) are integrated into the national airspace to comply with the 2012 Federal Aviation Administration Reauthorization Act, new civilian uses for robotic aircraft will come about in addition to the more obvious military applications. One particular area of interest for UAV development is the autonomous cooperative control of multiple UAVs. In this thesis, a decentralized leader-follower control strategy is designed, implemented, and tested from the follower’s perspective using vision-based localization. The tasks of localization and control were carried out with separate processing hardware dedicated to each task. First, software was written to estimate the relative state of a lead UAV in real-time from video captured by a camera on-board the following UAV. The software, written using OpenCV computer vision libraries and executed on an embedded single-board computer, uses the Efficient Perspective-n-Point algorithm to compute the 3-D pose from a set of 2-D image points. High-intensity, red, light emitting diodes (LEDs) were affixed to specific locations on the lead aircraft’s airframe to simplify the task if extracting the 2-D image points from video. Next, the following vehicle was controlled by modifying a commercially available, open source, waypoint-guided autopilot to navigate using the relative state vector provided by the vision software. A custom Hardware-In-Loop (HIL) simulation station was set up and used to derive the required localization update rate for various flight patterns and levels of atmospheric turbulence. HIL simulation showed that it should be possible to maintain formation, with a vehicle separation of 50 ± 6 feet and localization estimates updated at 10 Hz, for a range of flight conditions. Finally, the system was implemented into low-cost remote controlled aircraft and flight tested to demonstrate formation convergence to 65.5 ± 15 feet of separation

THE STUDENT PERCEPTION OF STUDENT SUPPORT SERVICES PROVIDED BY CALIFORNIA STATE UNIVERSITY OF SAN BERNARDINO (CSUSB) ON SOCIAL WORK STUDENTS’ OUTCOMES AT CSUSB

Student supportive services assist students by providing academic and mental health support. Overall success fulfills academic requirements and supports mental well-being by providing students with techniques to maintain healthy social relationships during rigorous academic programs. The purpose of this research explores the benefits of student support services for social work students at California State University San Bernardino (CSUSB). The research conducted concluded if supportive services had a direct impact on overall success. Office of Institutional Research as CSUSB has conducted student surveys to assess student satisfaction with supportive services; however, prior research has never been completed per academic program. This research utilized qualitative studies with current and former social work students who attended the social work program at CSUSB. This research provides critical information to institutions on whether social work program students utilize their supportive services and if the services helped students with both academics and mental health processes

The Archaeology of The Upper City and Adjacent Suburbs

This volume contains reports on sites excavated in the upper walled city at Lincoln and adjacent suburbs between 1972 and 1987. The project included large-scale excavations which yielded some stunning finds and revealed considerable information about several periods of the city's history. Each site is described in turn, incorporating stratigraphic, artifactual and environmental information, and the common threads are brought together in a general discussion. Structural and artifactual evidence for the post-medieval period also give a flavor of the local life-style in the 16th-18th centuries

Inbred Strain-Specific Effects of Exercise in Wild Type and Biglycan Deficient Mice

Biglycan (bgn)-deficient mice (KO) have defective osteoblasts which lead to changes in the amount and quality of bone. Altered tissue strength in C57BL6/129 (B6;129) KO mice, a property which is independent of tissue quantity, suggests that deficiencies in tissue quality are responsible. However, the response to bgn-deficiency is inbred strain-specific. Mechanical loading influences bone matrix quality in addition to any increase in bone mass or change in bone formation activity. Since many diseases influence the mechanical integrity of bone through altered tissue quality, loading may be a way to prevent and treat extracellular matrix deficiencies. C3H/He (C3H) mice consistently have a less vigorous response to mechanical loading vs. other inbred strains. It was therefore hypothesized that the bones from both wild type (WT) and KO B6;129 mice would be more responsive to exercise than the bones from C3H mice. To test these hypotheses at 11 weeks of age, following 21 consecutive days of exercise, we investigated cross-sectional geometry, mechanical properties, and tissue composition in the tibiae of male mice bred on B6;129 and C3H backgrounds. This study demonstrated inbred strain-specific compositional and mechanical changes following exercise in WT and KO mice, and showed evidence of genotype-specific changes in bone in response to loading in a gene disruption model. This study further shows that exercise can influence bone tissue composition and/or mechanical integrity without changes in bone geometry. Together, these data suggest that exercise may represent a possible means to alter tissue quality and mechanical deficiencies caused by many diseases of bone

Sidechain control of porosity closure in multiple peptide-based porous materials by cooperative folding

Porous materials find application in separation, storage and catalysis. We report a crystalline porous solid formed by coordination of metal centres with a glycylserine dipeptide. We prove experimentally that the structure evolves from a solvated porous into a non-porous state as result of ordered displacive and conformational changes of the peptide that suppress the void space in response to environmental pressure. This cooperative closure, which recalls the folding of proteins, retains order in three-dimensions and is driven by the hydroxyl groups acting as H-bond donors in the peptide sequence through the serine residue. This ordered closure is also displayed by multipeptide solid solutions in which the combination of different sequences of amino acids controls their guest response in a non-linear way. This functional control can be compared to the effect of single point mutations in proteins, where the exchange of single amino acids can radically alter structure and functio

Take a Giant Step: A Blueprint for Teaching Young Children in a Digital Age

Calls for enhancing early childhood education and teacher preparation and development by incorporating digital learning and highlights best practices, policy and program trends, and innovative approaches. Outlines goals for 2020 and steps to achieve them

High MIG (CXCL9) plasma levels favours response to peginterferon and ribavirin in HCV-infected patients regardless of DPP4 activity

Sustained virological response (SVR) following peginterferon (pegIFN) and ribavirin (RBV) treatment in hepatitis C virus (HCV) infected patients has been linked with the IL28B genotype and lower peripheral levels of the CXCR3-binding chemokine IP-10 (CXCL10). To further improve the understanding of these biomarkers we investigated plasma levels of the other CXCR3-binding chemokines and activity of the dipeptidyl peptidase IV (DPP4, CD26) protease, which cleaves IP-10, in relation to treatment response

Polyanhydride Nanoparticles Induce Low Inflammatory Dendritic Cell Activation Resulting in CD8+ T Cell Memory and Delayed Tumor Progression

Introduction: Adjuvants and immunotherapies designed to activate adaptive immunity to eliminate infectious disease and tumors have become an area of interest aimed at providing a safe and effective strategy to prevent or eliminate disease. Existing approaches would benefit from the development of immunization regimens capable of inducing efficacious cell- mediated immunity directed toward CD8+ T cell-specific antigens. This goal is critically dependent upon appropriate activation of antigen-presenting cells (APCs) most notably dendritic cells (DCs). In this regard, polyanhydride particles have been shown to be effectively internalized by APCs and induce activation. Methods: Here, a prophylactic vaccine regimen designed as a single-dose polyanhydride nanovaccine encapsulating antigen is evaluated for the induction of CD8+ T cell memory in a model system where antigen-specific protection is restricted to CD8+ T cells. Bone marrow-derived dendritic cells (BMDCs) are used as an in vitro model system to evaluate the magnitude and phenotype of APC activation. Primary DCs, particularly those with described ability to activate CD8+ T cells, are also evaluated for their in vitro responses to polyanhydride nanoparticles. Results: Herein, polyanhydride nanoparticles are shown to induce potent in vitro upregulation of costimulatory molecules on the cell surface of BMDCs. In contrast to the classically used TLR agonists, nanoparticles did not induce large amounts of pro-inflammatory cytokines, did not induce characteristic metabolic response of DCs, nor produce innate antimicrobial effector molecules, such as nitric oxide (NO). The polyanhydride nanovaccine results in protective CD8+ T cell responses as measured by inhibition of tumor progression and survival. Discussion: Together, these results suggest that the use of a polyanhydride-based nanovaccine can be an effective approach to inducing antigen-specific CD8+ T cell memory by providing antigen delivery and DC activation while avoiding overt inflammatory responses typically associated with traditional adjuvants

Polyanhydride Nanoparticles Induce Low Inflammatory Dendritic Cell Activation Resulting in CD8+ T Cell Memory and Delayed Tumor Progression

Introduction: Adjuvants and immunotherapies designed to activate adaptive immunity to eliminate infectious disease and tumors have become an area of interest aimed at providing a safe and effective strategy to prevent or eliminate disease. Existing approaches would benefit from the development of immunization regimens capable of inducing efficacious cell- mediated immunity directed toward CD8+ T cell-specific antigens. This goal is critically dependent upon appropriate activation of antigen-presenting cells (APCs) most notably dendritic cells (DCs). In this regard, polyanhydride particles have been shown to be effectively internalized by APCs and induce activation. Methods: Here, a prophylactic vaccine regimen designed as a single-dose polyanhydride nanovaccine encapsulating antigen is evaluated for the induction of CD8+ T cell memory in a model system where antigen-specific protection is restricted to CD8+ T cells. Bone marrow-derived dendritic cells (BMDCs) are used as an in vitro model system to evaluate the magnitude and phenotype of APC activation. Primary DCs, particularly those with described ability to activate CD8+ T cells, are also evaluated for their in vitro responses to polyanhydride nanoparticles. Results: Herein, polyanhydride nanoparticles are shown to induce potent in vitro upregulation of costimulatory molecules on the cell surface of BMDCs. In contrast to the classically used TLR agonists, nanoparticles did not induce large amounts of pro-inflammatory cytokines, did not induce characteristic metabolic response of DCs, nor produce innate antimicrobial effector molecules, such as nitric oxide (NO). The polyanhydride nanovaccine results in protective CD8+ T cell responses as measured by inhibition of tumor progression and survival. Discussion: Together, these results suggest that the use of a polyanhydride-based nanovaccine can be an effective approach to inducing antigen-specific CD8+ T cell memory by providing antigen delivery and DC activation while avoiding overt inflammatory responses typically associated with traditional adjuvants