Design and Control of a Flight-Style AUV with Hovering Capability

The small flight-style Delphin AUV is designed to evaluate the performance of a long range survey AUV with the additional capability to hover and manoeuvre at slow speed. Delphin’s hull form is based on a scaled version of Autosub6000, and in addition to the main thruster and control surfaces at the rear of the vehicle, Delphin is equipped with four rim driven tunnel thrusters. In order to reduce the development cycle time, Delphin was designed to use commercial-off-the-shelf (COTS) sensors and thrusters interfaced to a standard PC motherboard running the control software within the MS Windows environment. To further simplify the development, the autonomy system uses the State-Flow Toolbox within the Matlab/Simulink environment. While the autonomy software is running, image processing routines are used for obstacle avoidance and target tracking, within the commercial Scorpion Vision software. This runs as a parallel thread and passes results to Matlab via the TCP/IP communication protocol. The COTS based development approach has proved effective. However, a powerful PC is required to effectively run Matlab and Simulink, and, due to the nature of the Windows environment, it is impossible to run the control in hard real-time. The autonomy system will be recoded to run under the Matlab Windows Real-Time Windows Target in the near future. Experimental results are used to demonstrating the performance and current capabilities of the vehicle are presented

W-026, Waste Receiving and Processing Facility data management system validation and verification report

This V and V Report includes analysis of two revisions of the DMS [data management system] System Requirements Specification (SRS) and the Preliminary System Design Document (PSDD); the source code for the DMS Communication Module (DMSCOM) messages; the source code for selected DMS Screens, and the code for the BWAS Simulator. BDM Federal analysts used a series of matrices to: compare the requirements in the System Requirements Specification (SRS) to the specifications found in the System Design Document (SDD), to ensure the design supports the business functions, compare the discreet parts of the SDD with each other, to ensure that the design is consistent and cohesive, compare the source code of the DMS Communication Module with the specifications, to ensure that the resultant messages will support the design, compare the source code of selected screens to the specifications to ensure that resultant system screens will support the design, compare the source code of the BWAS simulator with the requirements to interface with DMS messages and data transfers relating to the BWAS operations

Turbulence and mixing by internal waves in the Celtic Sea determined from ocean glider microstructure measurements

We present a new series of data from a 9-day deployment of an ocean microstructure glider (OMG) in the Celtic Sea during the summer of 2012. The OMG has been specially adapted to measure shear microstructure and coincident density structure from which we derive the dissipation rate of turbulent kinetic energy (ε) and diapycnal diffusion rates (K). The methods employed to provide trustworthy turbulent parameters are described and data from 766 profiles of ε, temperature, salinity and density structure are presented. Surface and bottom boundary layers are intuitively controlled by wind and tidal forcing. Interior dynamics is dominated by a highly variable internal wave-field with peak vertical displacements in excess of 50 m, equivalent to over a third of the water depth. Following a relatively quiescent period internal wave energy, represented by the available potential energy (APE), increases dramatically close to the spring tide flow. Rather than follow the assumed spring-neap cycle however, APE is divided into two distinct peak periods lasting only one or two days. Pycnocline ε also increases close to the spring tide period and similar to APE, is distinguishable as two distinct energetic periods, however the timing of these periods is not consistent with APE. Pycnocline mixing associated with the observed ε is shown to be responsible for the majority of the observed reduction in bottom boundary layer density suggesting that diapycnal exchange is a key mechanism in controlling or limiting exchange between the continental shelf and the deep ocean. Results confirm pycnocline turbulence to be highly variable and difficult to predict however a log-normal distribution does suggest that natural variability could be reproduced if the mean state can be accurately simulated

A Child With Radius Aplasia, Cleft of Lip and Palate, Microcephaly, and Unusual Chromosome Findings

We report a child with malformation syndrome of microcephaly, asymmetrical radius aplasia, and cleft of lip and palate, who was mosaic for a chromosome marker and/or ring of unknown origin. In view of the reported cases of limb deficiency with chromosome abnormalities and the unlikelihood that the patient has a recognized genetic syndrome, the cause of the patient’s syndrome may well be the extra chromosomal material

The evolution of online teaching and learning in engineering at Deakin University

This paper presents a brief history of the use of online technologies in the support of teaching and learning in the School of Engineering and Technology at Deakin University, Victoria, Australia. It addresses the following topics: flexible engineering programs at Deakin University; computer-based learning in the School of Engineering and Technology; progression from individual efforts to formal, centralized control of the World Wide Web (Web); the costs of information technology; experiences with grant funded development projects; managing the development of online material; student access and equity; and staff development and cultural change. A sustainable online content development model is proposed to carry the School&rsquo;s online initiatives in support of teaching and learning activities into the future.<br /

Sikkerhetskultur i politiet

Politiet er det sivile samfunnets maktapparat, og er gjennom denne rollen gitt en rekke viktige oppgaver som kan være risikofylte og krevende. Det skal være trygt å arbeide i politiet, og politiet skal drive sin virksomhet på en slik måte at det ikke oppstår skade på personell, miljø eller materiell. For å oppnå dette kreves det fokus på utvikling, læring og forbedring av egen virksomhet. Formål Formålet med denne oppgaven er å belyse hva som kjennetegner sikkerhetskulturen i politiet, herunder å avdekke styrker og svakheter ved de sentrale momentene i sikkerhetskulturen. Oppgaven søker å avdekke om det er forskjeller mellom de ulike ledelsesnivåene i politiet når det gjelder sikkerhetskultur, og i hvilken grad politiet har god informasjonsflyt vedrørende sikkerhet. Hensikten med oppgaven er å besvare følgende problemstilling: "Hva kjennetegner sikkerhetskulturen i politiet?" Metode Undersøkelsen er gjennomført som en kvalitativ studie med dybdeintervjuer av et utvalg respondenter, som alle er ansatt i politiet. Respondentene ble valgt ut på bakgrunn av deres plassering i organisasjonen, både faglig og administrativt. Totalt er det intervjuet personer fra tre politidistrikter, alle ledelsesnivåene i politiet og med både politifaglig, sivil og juristutdanning. Resultat Studien viste at sikkerhetskulturen i politiet har enkelte svakheter, men at det har vært en positiv utvikling de siste årene, mye på grunn av endringer knyttet til nærpolitireformen. Det er ikke store forskjeller mellom de ulike ledernivåene, men det er en antydning til at ansatte med lederansvar i større grad har et mer positivt syn på sikkerhetskulturen. Det er også noe ulikheter mellom de ulike faggruppene, hvor de politiansatte i større grad opplever en fryktkultur. Konklusjon Sikkerhetskulturen i politiet er generelt god, men det gjenstår mye arbeid med å forbedre sikkerhetskulturen. Nærpolitireformen og koronapandemien har bidratt til å bedre sikkerhetskulturen, blant annet ved at man har profesjonalisert HR-arbeidet i politiet. Likevel fremstår det som at rapporteringskulturen i politiet ikke fungerer optimalt, på tross av innføringen av nye tekniske systemer, i tillegg har man ikke gode nok nasjonale systemer for erfaringslæring

Glider observations of enhanced deep water upwelling at a shelf break canyon: a mechanism for cross-slope carbon and nutrient exchange

Using underwater gliders we have identified canyon driven upwelling across the Celtic Sea shelf-break, in the vicinity of Whittard Canyon. The presence of this upwelling appears to be tied to the direction and strength of the local slope current, which is in itself highly variable. During typical summer time equatorward flow, an unbalanced pressure gradient force and the resulting disruption of geostrophic flow can lead to upwelling along the main axis of two small shelf break canyons. As the slope current reverts to poleward flow, the upwelling stops and the remnants of the upwelled features are mixed into the local shelf water or advected away from the region. The upwelled features are identified by the presence of sub-pycnocline high salinity water on the shelf, and are upwelled from a depth of 300 m on the slope, thus providing a mechanism for the transport of nutrients across the shelf break onto the shelf

The signed loop approach to the Ising model: foundations and critical point

The signed loop method is a beautiful way to rigorously study the two-dimensional Ising model with no external field. In this paper, we explore the foundations of the method, including details that have so far been neglected or overlooked in the literature. We demonstrate how the method can be applied to the Ising model on the square lattice to derive explicit formal expressions for the free energy density and two-point functions in terms of sums over loops, valid all the way up to the self-dual point. As a corollary, it follows that the self-dual point is critical both for the behaviour of the free energy density, and for the decay of the two-point functions.Comment: 38 pages, 7 figures, with an improved Introduction. The final publication is available at link.springer.co

Simple advice for a simple ankle sprain? The not so benign ankle injury

Editorial. No abstract available

Patellar cartilage volume of the back leg versus the higher loaded front leg in current elite male english cricket fast bowlers

Patellar cartilage volume of the back leg versus the higher loaded front leg in current elite male english cricket fast bowler