Improving MAV control by predicting aerodynamic effects of obstacles

Abstract — Building on our previous work [1], in this paper we demonstrate how it is possible to improve flight control of a MAV that experiences aerodynamic disturbances caused by objects on its path. Predictions based on low resolution depth images taken at a distance are incorporated into the flight control loop on the throttle channel as this is adjusted to target undisrupted level flight. We demonstrate that a statistically significant improvement (p << 0.001) is possible for some common obstacles such as boxes and steps, compared to using conventional feedback-only control. Our approach and results are encouraging toward more autonomous MAV exploration strategies. I

Coupling the actuator line method to the high order meteorological les model Meso-NH to study wind farm wakes impacts on local meteorology

Offshore wind energy is now reaching the technological maturity, its capacity is increasing all over the world and this trend is projected to continue for several more years. Given this expectation, a better understanding of the relationship between the presence of wind farms and the atmospheric boundary layer is needed. Turbulent wakes produced by wind turbines can significantly impact the flow dynamics within wind farms and downstream of them. Operating offshore parks have already shown losses on energy production and effects on the local climate. In order to analyse the interactions occurring during these impacts, a new tool has been developed. This numerical tool is a coupling between the Actuator Line Method (ALM) and the open-source, non-hydrostatic mesoscale atmospheric model Meso-NH, based on the Large Eddy Simulation (LES) framework. The coupled Meso-NH + ALM system is first validated by using the experimental data obtained during the New MEXICO experiments. In particular, simulated and experimental loadings along the blades are compared. Then, a simulation of an idealized Horns Rev wind farm is performed using met mast measurements and reanalysis data for the “Horns Rev 1 photo case” as initial conditions. This new coupled system allows the exploration of the impact of wind farms on the lower levels of the atmosphere.Fil: Joulin, P. A.. French Institute of Petroleum Énergies nouvelles; Francia. Centre National de Recherches Météorologiques; FranciaFil: Mayol, María Laura. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Parque Centenario. Centro de Simulación Computacional para Aplicaciones Tecnológicas; ArgentinaFil: Blondel, F.. French Institute of Petroleum Énergies nouvelles; FranciaFil: Masson, Viviana Patricia. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Centre National de Recherches Météorologiques; FranciaFil: Rodier, Q.. Centre National de Recherches Météorologiques; FranciaFil: Lac, C.. Centre National de Recherches Météorologiques; Franci

From nonwetting to prewetting: the asymptotic behavior of 4He drops on alkali substrates

We investigate the spreading of 4He droplets on alkali surfaces at zero temperature, within the frame of Finite Range Density Functional theory. The equilibrium configurations of several 4He_N clusters and their asymptotic trend with increasing particle number N, which can be traced to the wetting behavior of the quantum fluid, are examined for nanoscopic droplets. We discuss the size effects, inferring that the asymptotic properties of large droplets correspond to those of the prewetting film

CXCL-8/IL8 Produced by Diffuse Large B-cell Lymphomas Recruits Neutrophils Expressing a Proliferation-Inducing Ligand APRIL.

Tumor-infiltrating neutrophils have been implicated in malignant development and progression, but mechanisms are ill defined. Neutrophils produce a proliferation-inducing ligand APRIL/TNFSF13, a factor that promotes development of tumors from diverse origins, including diffuse large B-cell lymphoma (DLBCL). High APRIL expression in DLBCL correlates with reduced patient survival, but the pathway(s) dictating APRIL expression are not known. Here, we show that all blood neutrophils constitutively secrete APRIL, and inflammation-associated stimuli, such as TNF, further upregulate APRIL. In a significant fraction of DLBCL patients, tumor cells constitutively produced the ELC-CXC chemokine CXCL-8 (IL8), enabling them to recruit APRIL-producing blood neutrophils. CXCL-8 production in DLBCL was unrelated to the cell of origin, as APRIL-producing neutrophils infiltrated CXCL-8(+) DLBCL from both germinal center (GC) and non-GC subtypes. Rather, CXCL-8 production implied events affecting DNA methylation and acetylation. Overall, our results showed that chemokine-mediated recruitment of neutrophils secreting the tumor-promoting factor APRIL mediates DLBCL progression. Cancer Res; 77(5); 1097-107. ©2016 AACR

Length of carotid stenosis predicts peri-procedural stroke or death and restenosis in patients randomized to endovascular treatment or endarterectomy.

BACKGROUND: The anatomy of carotid stenosis may influence the outcome of endovascular treatment or carotid endarterectomy. Whether anatomy favors one treatment over the other in terms of safety or efficacy has not been investigated in randomized trials. METHODS: In 414 patients with mostly symptomatic carotid stenosis randomized to endovascular treatment (angioplasty or stenting; n = 213) or carotid endarterectomy (n = 211) in the Carotid and Vertebral Artery Transluminal Angioplasty Study (CAVATAS), the degree and length of stenosis and plaque surface irregularity were assessed on baseline intraarterial angiography. Outcome measures were stroke or death occurring between randomization and 30 days after treatment, and ipsilateral stroke and restenosis ≥50% during follow-up. RESULTS: Carotid stenosis longer than 0.65 times the common carotid artery diameter was associated with increased risk of peri-procedural stroke or death after both endovascular treatment [odds ratio 2.79 (1.17-6.65), P = 0.02] and carotid endarterectomy [2.43 (1.03-5.73), P = 0.04], and with increased long-term risk of restenosis in endovascular treatment [hazard ratio 1.68 (1.12-2.53), P = 0.01]. The excess in restenosis after endovascular treatment compared with carotid endarterectomy was significantly greater in patients with long stenosis than with short stenosis at baseline (interaction P = 0.003). Results remained significant after multivariate adjustment. No associations were found for degree of stenosis and plaque surface. CONCLUSIONS: Increasing stenosis length is an independent risk factor for peri-procedural stroke or death in endovascular treatment and carotid endarterectomy, without favoring one treatment over the other. However, the excess restenosis rate after endovascular treatment compared with carotid endarterectomy increases with longer stenosis at baseline. Stenosis length merits further investigation in carotid revascularisation trials

A vertical diatomic artificial molecule in the intermediate coupling regime in a parallel and perpendicular magnetic field

We present experimental results for the ground state electrochemical potentials of a few electron semiconductor artificial molecule made by vertically coupling two quantum dots, in the intermediate coupling regime, in perpendicular and parallel magnetic fields up to 5 T. We perform a quantitative analysis based on local-spin density functional theory. The agreement between theoretical and experimental results is good, and the phase transitions are well reproduced.Comment: Typeset using Revtex, 13 pages and 8 Postscript figure

Cavitation of Electrons Bubbles in Liquid Helium Below saturation Pressure

We have used a Hartree-type electron-helium potential together with a density functional description of liquid $^4$He and $^3$He to study the explosion of electron bubbles submitted to a negative pressure. The critical pressure at which bubbles explode has been determined as a function of temperature. It has been found that this critical pressure is very close to the pressure at which liquid helium becomes globally unstable in the presence of electrons. It is shown that at high temperatures the capillary model overestimates the critical pressures. We have checked that a commonly used and rather simple electron-helium interaction yields results very similar to those obtained using the more accurate Hartree-type interaction. We have estimated that the crossover temperature for thermal to quantum nucleation of electron bubbles is very low, of the order of 6 mK for $^4$He.Comment: 22 pages, 9 figure

Height and timing of growth spurt during puberty in young people living with vertically acquired HIV in Europe and Thailand.

OBJECTIVE: The aim of this study was to describe growth during puberty in young people with vertically acquired HIV. DESIGN: Pooled data from 12 paediatric HIV cohorts in Europe and Thailand. METHODS: One thousand and ninety-four children initiating a nonnucleoside reverse transcriptase inhibitor or boosted protease inhibitor based regimen aged 1-10 years were included. Super Imposition by Translation And Rotation (SITAR) models described growth from age 8 years using three parameters (average height, timing and shape of the growth spurt), dependent on age and height-for-age z-score (HAZ) (WHO references) at antiretroviral therapy (ART) initiation. Multivariate regression explored characteristics associated with these three parameters. RESULTS: At ART initiation, median age and HAZ was 6.4 [interquartile range (IQR): 2.8, 9.0] years and -1.2 (IQR: -2.3 to -0.2), respectively. Median follow-up was 9.1 (IQR: 6.9, 11.4) years. In girls, older age and lower HAZ at ART initiation were independently associated with a growth spurt which occurred 0.41 (95% confidence interval 0.20-0.62) years later in children starting ART age 6 to 10 years compared with 1 to 2 years and 1.50 (1.21-1.78) years later in those starting with HAZ less than -3 compared with HAZ at least -1. Later growth spurts in girls resulted in continued height growth into later adolescence. In boys starting ART with HAZ less than -1, growth spurts were later in children starting ART in the oldest age group, but for HAZ at least -1, there was no association with age. Girls and boys who initiated ART with HAZ at least -1 maintained a similar height to the WHO reference mean. CONCLUSION: Stunting at ART initiation was associated with later growth spurts in girls. Children with HAZ at least -1 at ART initiation grew in height at the level expected in HIV negative children of a comparable age

INDOEX aerosol: A comparison and summary of chemical, microphysical, and optical properties observed from land, ship, and aircraft

The Indian Ocean Experiment (INDOEX) measurements on land, sea, and in the air were designed to provide complementary assessment of chemical, physical, and optical properties of the haze aerosol over the Indian Ocean. Differences in platform requirements and objectives resulted in diverse techniques, measurements, and analyses being employed. In order to best interpret the properties of the INDOEX aerosol, comparisons of data by platform, air mass origin, and light scattering intensity were undertaken. These revealed significant variability in platform averages of aerosol extensive properties (e.g., mass, light scattering, and absorption) but less variability in intensive properties (e.g., mass scattering efficiency, single scattering albedo, backscatter fraction, and Ångström exponent) and the ratios of constituents. In general, ratios of chemical species were found to show greater variability than properties of the size distributions or aerosol optical properties. Even so, at higher haze concentrations with higher scattering values, various determinations of the mass scattering efficiency (MSE) at 33% relative humidity converged on values of about 3.8 ± 0.3 m^2 g^(−1), providing a firm constraint upon the description and modeling of haze optical properties. MSE values trended lower with more dilute haze but became more variable in clean air or regions of low concentrations. This cross-platform comparison resolved a number of measurement differences but also revealed that regional characterization from different platforms results in differences linked to variability in time and space. This emphasizes the need to combine such efforts with coordinated satellite and modeling studies able to characterize large-scale regional structure and variability. These comparisons also indicate that “closure” between chemical, microphysical, and optical properties across platforms to better than about 20% will require significant improvements in techniques, calibration procedures, and comparison efforts