A flow disturbance estimation and rejection strategy for multirotors with round-trip trajectories

This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the tracking error. During this phase, the disturbance estimations with respect to the position are also recorded for future use. For the return flight, the disturbances previously collected are then routed through a feedforward controller. The major assumption here is that the disturbances may vary over space, but not over time during the same mission. We demonstrate the effectiveness of this feedforward strategy via experiments with two different types of wind flows; a simple jet flow and a more complex flow. To use as a baseline case, a cascaded PD controller with an additional feedback loop for disturbance estimation was employed for outbound flights. To display our contributions regarding the additional feedforward approach, an additional feedforward correction term obtained via prerecorded data was integrated for the return flight. Compared to the baseline controller, the feedforward controller was observed to produce 43% less RMSE position error at a vehicle ground velocity of 1 m/s with 6 m/s of environmental wind velocity. This feedforward approach also produced 14% less RMSE position error for the complex flows as well

Color Transparency at COMPASS energies

Pionic quasielastic knockout of protons from nuclei at 200 GeV show very large effects of color transparency as -t increases from 0 to several GeV^2. Similar effects are expected for quasielastic photoproduction of vector mesons.Comment: 9 pages, 4 figure

All-weather ice information system for Alaskan arctic coastal shipping

A near real-time ice information system designed to aid arctic coast shipping along the Alaskan North Slope is described. The system utilizes a X-band Side Looking Airborne Radar (SLAR) mounted aboard a U.S. Coast Guard HC-130B aircraft. Radar mapping procedures showing the type, areal distribution and concentration of ice cover were developed. In order to guide vessel operational movements, near real-time SLAR image data were transmitted directly from the SLAR aircraft to Barrow, Alaska and the U.S. Coast Guard icebreaker Glacier. In addition, SLAR image data were transmitted in real time to Cleveland, Ohio via the NOAA-GOES Satellite. Radar images developed in Cleveland were subsequently facsimile transmitted to the U.S. Navy's Fleet Weather Facility in Suitland, Maryland for use in ice forecasting and also as a demonstration back to Barrow via the Communications Technology Satellite

Great Lakes all-weather ice information system

A system is described which utilizes an X-band Side-Looking-Airborne-Radar (SLAR) for determining type, location, and aerial distribution of the ice cover in the Great Lakes and an airborne, S-band, short pulse radar for obtaining ice thickness. The SLAR system is currently mounted aboard a U.S. Coast Guard C-130B aircraft. Digitized SLAR data are relayed in real-time via the NOAA-GOES-1 satellite in geosynchronous orbit to the U.S. Coast Guard Ice Center in Cleveland, Ohio. SLAR images along with hand-drawn interpretative ice charts for various winter shipping areas in the Great Lakes are broadcast to facsimile recorders aboard Great Lakes vessels. The operational aspects of this ice information system are being demonstrated by NASA, U.S. Coast Guard, and NOAA/National Weather Service. Results from the 1974-75 winter season demonstrated the ability of this system to provide all-weather ice information to shippers in a timely manner

Understanding gay cultures

The entire dissertation/thesis text is included in the research.pdf file; the official abstract appears in the short.pdf file (which also appears in the research.pdf); a non-technical general description, or public abstract, appears in the public.pdf file.Title from title screen of research.pdf file viewed on (June 30, 2006)Includes bibliographical references.Vita.Thesis (M.F.A) University of Missouri-Columbia 2004.Dissertations, Academic -- University of Missouri--Columbia -- Art.Perceptions of gay culture have changed dramatically over the last century. Before the Stonewall Riots of 1969, mainstream society chose not to acknowledge the existence of a gay sub-culture. The photographic works of Brassï provide evidence of a culture that hid from view. After the Stonewall Riots and the emergence of the gay liberation movement, artists such as Robert Mapplethorpe reacted to the negative perceptions of homosexuality by creating aggressive, shocking works that emphasized the distinctions and differences of gay culture from mainstream society. Since the 1990's however, a greater acceptance of alternative lifestyles has prevailed and changed perceptions of homosexuality. These perceptions include the idea that many similarities exist between homosexual and heterosexual culture. The thesis work provides examples of the artist's intention to create sculpture that investigates the common humanity of homosexual and heterosexual culture in order to foster a greater understanding and tolerance of a gay life

Moderate-depth benthic habitats of St. John, U.S. Virgin Islands

The National Oceanic and Atmospheric Administration’s (NOAA) Center for Coastal Monitoring and Assessment’s (CCMA) Biogeography Branch and the U.S. National Park Service (NPS) have completed mapping the moderate-depth marine environment south of St. John. This work is an expansion of ongoing mapping and monitoring efforts conducted by NOAA and NPS in the U.S. Caribbean. The standardized protocols used in this effort will enable scientists and managers to quantitatively compare moderate-depth coral reef ecosystems around St. John to those throughout the U.S. Territories. These protocols and products will also help support the effective management and conservation of the marine resources within the National Park system

Prognostic significance of nonfatal reinfarction during 3-year follow-up: Results of the thrombolysis in myocardial infarction (TIMI) phase II clinical trial

Objectives.This study sought to assess the independent contribution of nonfatal reinfarction to the risk of subsequent death in patients with acute myocardial infarction undergoing thrombolytic therapy.Background.A composite of “unsatisfactory outcomes” as an end point has increased statistical power and facilitated evaluation of evolving treatment regimens in acute myocardial infarction. The significance of nonfatal reinfarction as a component of a composite end point has not been evaluated in the thrombolytic era.Methods.Event rate of nonfatal reinfarction over 3-year follow-up was evaluated in patients with acute myocardial infarction entered into the Thrombolysis in Myocardial Infarction Phase II trial. The independent risk of nonfatal reinfarction for subsequent death within various time intervals of follow-up was determined. The mortality rate after nonfatal reinfarction was compared with that of a matched control group.Results.During 3-year follow-up, 349 of 3,339 patients had a nonfatal reinfarction. Univariate predictors were history (antedating the index event) of angina (p = 0.01), hypertension (p = 0.01), multivessel disease (p = 0.007) and not a current smoker (p = 0.003); the latter was an independent predictor (relative risk [RR] 1.3, 99% confidence interval [CI]1.0 to 1.8). Forty-three of the 349 patients with a nonfatal reinfarction died: RR for death (vs. patients without a nonfatal reinfarction) was 1.9 (99% CI 1.1 to 3.2) if reinfarction occurred within 42 days of study entry, 6.2 (99% CI 3.0 to 12.9) if reinfarction occurred between 43 and 365 days and 2.9 (99% CI 0.6 to 13.4) if reinfarction occurred between 366 days and 3 years. The cumulative 3-year death rate was 14.1% in patients with a nonfatal reinfarction compared with 7.9% (p < 0.01) in a matched control group. Univariate predictors of death after nonfatal reinfarction were age ≥65 years (p < 0.001), not low risk category (p = 0.015) and history of heart failure before the index event (p < 0.001). Age ≥65 years was the only independent predictor (RR 5.4, 99% CI 2.3 to 12.4).Conclusions.Nonfatal reinfarction is a strong and independent predictor for subsequent death. It represents a powerful component for a composite end point in patients who received thrombolytic therapy after acute myocardial infarction

Resident and Facility Factors Associated with Rehospitalization from Skilled Nursing Facilities

ABSTRACT Older adults often require short-term nursing home care after an acute hospital stay to receive skilled nursing or rehabilitation services. Rehospitalization after a skilled nursing facility (SNF) admission is a potential indicator of poor nursing home quality that is associated with substantial risks of complications and increased costs of care. This study examined resident and facility factors associated with 30-day rehospitalizations during a one-year study period from SNFs in New Mexico. The Minimum Data Set 3.0 was used to explore resident factors and Nursing Home Compare data was used for facility factors. Among residents admitted to the SNF from an acute care hospital for 30-days or fewer (n = 2,370), 317 (13.4%) were rehospitalized. In bivariate analyses, several resident characteristics during their SNF stay were associated with significantly increased probability of rehospitalization, including an unhealed pressure ulcer, delirium, shortness of breath, and oxygen use. In multivariable models, the relative odds of rehospitalization were increased in those who identified as American Indian or Alaska Native, residents who rejected care, those with symptoms of delirium, and those who required greater mobility assistance with activities of daily living. The relative odds of rehospitalization were decreased in women and in residents with dementia. However, overall, none of the models improved prediction of rehospitalization. The Nursing Home Compare 5-star rating showed a decline in nurse staff ratings from 2015 to 2016. Policy implications include value-based penalties linked to high SNF rehospitalization rates and policies focused on reducing Medicare costs, while improving nursing home quality