Advanced Formation Flight Control

In this thesis, the formation flight control problem is continued from four previous theses. Automatic formation flight involves controlling multiple aircraft equipped with standard Mach-hold, altitude hold, and heading-hold autopilots to maintain a desired distance from a lead aircraft or rabbit . Changes in the rabbit\u27s states are treated as disturbances to the system and rejected. Previous research is advanced in the following areas: Higher-order aircraft-autopilot models are included into the design and a new feedback control law is employed, resulting in more accurate simulations. An energy tracking scheme is developed and is shown to reduce wing aircraft energy excursions. Finally, the formation hold autopilot is modified to allow the wing aircraft to orbit a stationary reference point on the earth at a desired range, airspeed, and altitude. The importance of the disturbance rejection capability of the controller is demonstrated through comparisons of linearized model predictions with nonlinear simulations. The design tradeoffs between performance and robustness are emphasized

Fusion of Imaging and Inertial Sensors for Navigation

The motivation of this research is to address the limitations of satellite-based navigation by fusing imaging and inertial systems. The research begins by rigorously describing the imaging and navigation problem and developing practical models of the sensors, then presenting a transformation technique to detect features within an image. Given a set of features, a statistical feature projection technique is developed which utilizes inertial measurements to predict vectors in the feature space between images. This coupling of the imaging and inertial sensors at a deep level is then used to aid the statistical feature matching function. The feature matches and inertial measurements are then used to estimate the navigation trajectory using an extended Kalman filter. After accomplishing a proper calibration, the image-aided inertial navigation algorithm is then tested using a combination of simulation and ground tests using both tactical and consumer- grade inertial sensors. While limitations of the Kalman filter are identified, the experimental results demonstrate a navigation performance improvement of at least two orders of magnitude over the respective inertial-only solutions

Gait and electromyographic analysis of patients recovering after limb-saving surgery

Contains fulltext : 123683.pdf (publisher's version ) (Closed access

Prokaryotic respiration and production in the meso- and bathypelagic realm of the eastern and western North Atlantic basin

We measured prokaryotic production and respiration in the major water masses of the North Atlantic down to a depth of,4,000 m by following the progression of the two branches of North Atlantic Deep Water (NADW) in the oceanic conveyor belt. Prokaryotic abundance decreased exponentially with depth from 3 to 0.4 3 105 cells mL21 in the eastern basin and from 3.6 to 0.3 3 105 cells mL21 in the western basin. Prokaryotic production measured via 3H-leucine incorporation showed a similar pattern to that of prokaryotic abundance and decreased with depth from 9.2 to 1.1 mmol C m23 d21 in the eastern and from 20.6 to 1.2 mmol C m23 d21 in the western basin. Prokaryotic respiration, measured via oxygen consumption, ranged from about 300 to 60 mmol C m23 d21 from,100 m depth to the NADW. Prokaryotic growth efficiencies of,2 % in the deep waters (depth range 1,200–4,000 m) indicate that the prokaryotic carbon demand exceeds dissolved organic matter input and surface primary production by 2 orders of magnitude. Cell-specific prokaryotic production was rather constant throughout the water column, ranging from 15 to 32 3 1023 fmol C cell21 d21 in the eastern and from 35 to 58

An extendable modular endoprosthetic system for bone tumour management in the leg

A modular endoprosthetic system has been developed at the Groningen University Hospital and the University of Twente. The system can bridge a defect resulting from the resection of a malignant bone tumour which has developed around the knee joint of a child. Since the other healthy leg continues to grow, the system includes an element whose length can be adjusted non-invasively by using an external magnetic field. In addition to this lengthening element, there are one hip and two knee components, connectors of various lengths, and fixation elements. The paper describes the elements of the modular endoprosthetic system. Tables are created by means of which the elemental composition of such an endoprosthesis can be determined for each individual patient

Optimal Design of Composite Structures by Advanced Mixed Integer Nonlinear Optimization

The objective of this case series study was reautomatization of gait after limb-saving surgery for tumors at a laboratory of gait analysis. Twelve patients (9 males and 3 females; mean age, 38 years) who underwent limb-saving surgery of the lower limb at least 1 year previously and ten normal subjects (3 males and 7 females; mean age, 37.5 years) were studied. The main outcome measures were walking speed and stride time duration under normal walking conditions as well as the use of different types of constraints. Patients walked with a lower preferred walking speed than the normal subjects. Patients showed a higher coefficient of variation of stride time in normal walking as well as complex walking compared with normal subjects. During walking with constraints, a significant decrease in stride time was found in patients but not in normal subjects. Although restoration of gait after limb-saving surgery is impressive, it is not complete (lower walking speed) and can break down under conditions of visual and cognitive load. Hence, the application of complex tasks reveals that gait reautomatization is not complete in these patients during a period of 2 to 5 years after surgery

The treatment of primary tumors of the femur with chemotherapy (if indicated), resection and reconstruction with an endoprosthesis

The treatment protocol of 15 patients with a primary tumor of the femur, including osteosarcoma, malignant fibrous histiocytoma and chondrosar-coma is presented. All patients had been selected for resection and reconstruction with an endoprosthesis. An endoprothesis was implanted in 12 patients. \ud The results of this type of treatment appear to be satisfactory. In eight osteosarcoma cases resection and reconstruction with an endoprosthesis combined with preoperative and postoperative chemotherapy, according to Rosen, were performed. Follow-up in all 15 patients, varying from 1.4 to 6.0 years, showed no evidence of disease in 12 patients. Three patients had died. Function of the involved leg was satisfactory in most cases. \ud The advantage and disadvantages of the use of an endoprosthesis are discussed as well as complications in this series of patients

Klimaat onderzoek bij het Nederlands Instituut voor Onderzoek der Zee

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