Fish fights over fish rights: Conflicts arising from re-allocation of fishing lots: perceptions from community fisheries in Cambodia

Disputes, Aquaculture, Cambodia,

An IPMC-Enabled Bio-Inspired bending/twisting Fin for Underwater Applications

This paper discusses the design, fabrication, and characterization of an ionic polymer–metal composite (IPMC) actuator-based bio-inspired active fin capable of bending and twisting motion. It is pointed out that IPMC strip actuators are used in the simple cantilever configuration to create simple bending (flapping-like) motion for propulsion in underwater autonomous systems. However, the resulting motion is a simple 1D bending and performance is rather limited. To enable more complex deformation, such as the flapping (pitch and heaving) motion of real pectoral and caudal fish fins, a new approach which involves molding or integrating IPMC actuators into a soft boot material to create an active control surface (called a \u27fin\u27) is presented. The fin can be used to realize complex deformation depending on the orientation and placement of the actuators. In contrast to previously created IPMCs with patterned electrodes for the same purpose, the proposed design avoids (1) the more expensive process of electroless plating platinum all throughout the surface of the actuator and (2) the need for specially patterning the electrodes. Therefore, standard shaped IPMC actuators such as those with rectangular dimensions with varying thicknesses can be used. One unique advantage of the proposed structural design is that custom shaped fins and control surfaces can be easily created without special materials processing. The molding process is cost effective and does not require functionalizing or \u27activating\u27 the boot material similar to creating IPMCs. For a prototype fin (90 mm wide × 60 mm long× 1.5 mm thick), the measured maximum tip displacement was approximately 44 mm and the twist angle of the fin exceeded 10°. Lift and drag measurements in water where the prototype fin with an airfoil profile was dragged through water at a velocity of 21 cm s−1 showed that the lift and drag forces can be affected by controlling the IPMCs embedded into the fin structure. These results suggest that such IPMC-enabled fin designs can be used for developing active propeller blades or control surfaces on underwater vehicles

Quantitative information flow, with a view

We put forward a general model intended for assessment of system security against passive eavesdroppers, both quantitatively ( how much information is leaked) and qualitatively ( what properties are leaked). To this purpose, we extend information hiding systems ( ihs ), a model where the secret-observable relation is represented as a noisy channel, with views : basically, partitions of the state-space. Given a view W and n independent observations of the system, one is interested in the probability that a Bayesian adversary wrongly predicts the class of W the underlying secret belongs to. We offer results that allow one to easily characterise the behaviour of this error probability as a function of the number of observations, in terms of the channel matrices defining the ihs and the view W . In particular, we provide expressions for the limit value as n → ∞, show by tight bounds that convergence is exponential, and also characterise the rate of convergence to predefined error thresholds. We then show a few instances of statistical attacks that can be assessed by a direct application of our model: attacks against modular exponentiation that exploit timing leaks, against anonymity in mix-nets and against privacy in sparse datasets

Enhanced proportional-derivative control of a micro quadcopter

ABSTRACT This paper studies the design of an enhanced proportionalderivative (PD) controller to improve the transient response of a micro quadrotor helicopter (quadcopter Introduction Micro aerial vehicles (MAVs) have a wingspan less than 0.15 m and a mass less than 0.1 kg The control of quadcopters has mostly been focused on ma

Retrospective-Cost Adaptive Control of Uncertain Hammerstein-Wiener Systems with Memoryless and Hysteretic Nonlinearities

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/97108/1/AIAA2012-4449.pd

3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators

This paper presents a new manufacturing and control paradigm for developing soft ionic polymer-metal composite (IPMC) actuators for soft robotics applications. First, an additive manufacturing method that exploits the fused-filament (3D printing) process is described to overcome challenges with existing methods of creating custom-shaped IPMC actuators. By working with ionomeric precursor material, the 3D-printing process enables the creation of 3D monolithic IPMC devices where ultimately integrated sensors and actuators can be achieved. Second, Bayesian optimization is used as a learning-based control approach to help mitigate complex time-varying dynamic effects in 3D-printed actuators. This approach overcomes the challenges with existing methods where complex models or continuous sensor feedback are needed. The manufacturing and control paradigm is applied to create and control the behavior of example actuators, and subsequently the actuator components are combined to create an example modular reconfigurable IPMC soft crawling robot to demonstrate feasibility. Two hypotheses related to the effectiveness of the machine-learning process are tested. Results show enhancement of actuator performance through machine learning, and the proof-of-concepts can be leveraged for continued advancement of more complex IPMC devices. Emerging challenges are also highlighted

A Mendelian Trait for Olfactory Sensitivity Affects Odor Experience and Food Selection

SummaryHumans vary in acuity to many odors [1–4], with variation within olfactory receptor (OR) genes contributing to these differences [5–9]. How such variation also affects odor experience and food selection remains uncertain [10], given that such effects occur for taste [11–15]. Here we investigate β-ionone, which shows extreme sensitivity differences [4, 16, 17]. β-ionone is a key aroma in foods and beverages [18–21] and is added to products in order to give a pleasant floral note [22, 23]. Genome-wide and in vitro assays demonstrate rs6591536 as the causal variant for β-ionone odor sensitivity. rs6591536 encodes a N183D substitution in the second extracellular loop of OR5A1 and explains >96% of the observed phenotypic variation, resembling a monogenic Mendelian trait. Individuals carrying genotypes for β-ionone sensitivity can more easily differentiate between food and beverage stimuli with and without added β-ionone. Sensitive individuals typically describe β-ionone in foods and beverages as “fragrant” and “floral,” whereas less-sensitive individuals describe these stimuli differently. rs6591536 genotype also influences emotional associations and explains differences in food and product choices. These studies demonstrate that an OR variant that influences olfactory sensitivity can affect how people experience and respond to foods, beverages, and other products

Characteristics of a Widespread Community Cluster of H275Y Oseltamivir-Resistant A(H1N1)pdm09 Influenza in Australia

Background. Oseltamivir resistance in A(H1N1)pdm09 influenza is rare, particularly in untreated community cases. Sustained community transmission has not previously been reported