A realization model to develop the autopilot system of ships by specializing MDA

This paper presents a method which is based on the Model-Driven Architecture (MDA) and functional blocks to realize effectively the autopilot systems of ships. It brings out an executable MDA process to cover completely the requirement analysis, design and deployment phases of these systems. This process also allows the determined design elements to be customizable and re-usable in the new applications of controlled ship steering systems. The paper indicates straightforwardly the ship dynamic model-to-be used, the Computation Independent Model (CIM) of a ship autopilot system, the Platform Independent Model (PIM) of this system by using the Real-Time Unified Modeling Language (UML), and its Platform Specific Model (PSM) implemented by the functional blocks. Furthermore, the important transformation rules are also brought out and applied to convert the identified PIM into PSM for implementing quickly this system with different industrial frameworks such as the IEC61499 in a programmable controller. Then, its deployment model completely is tested on a model ship with the predetermined program and control performance

The impact of land fragmentation on household income: Evidence from rural Vietnam

Our study provides evidence that land fragmentation has negative consequences for household income, possibly because of its negative effects on crop income in ruralVietnam. Notably, using the Instrumental Variables (IV) method, we find that the negative effect is much greater after addressing the endogeneity of land fragmentation. IV analysis, therefore, suggests that a conventional approach which often uses the Ordinary Least Squares (OLS) method is likely to underestimate the impact of land fragmentation on rural households. Also, the finding implies that reducing land fragmentation would minimize its negative consequences for household income by reducing its negative effect on crop income

The impact of land fragmentation on household income: Evidence from rural Vietnam

Our study provides evidence that land fragmentation has negative consequences for household income, possibly because of its negative effects on crop income in ruralVietnam. Notably, using the Instrumental Variables (IV) method, we find that the negative effect is much greater after addressing the endogeneity of land fragmentation. IV analysis, therefore, suggests that a conventional approach which often uses the Ordinary Least Squares (OLS) method is likely to underestimate the impact of land fragmentation on rural households. Also, the finding implies that reducing land fragmentation would minimize its negative consequences for household income by reducing its negative effect on crop income

Rôle de la molécule CD47 dans l’homéostasie du système immunitaire

Les travaux antérieurs du laboratoire ont démontré le rôle du CD47 dans la fonction des cellules dendritiques ainsi que dans l’induction des lymphocytes T régulateurs (Tregs) chez l’humain in vitro. Notre premier objectif était de déterminer le rôle de CD47 sur la fonction des DCs in vivo. Nos travaux démontrent que le CD47 contrôle sélectivement la migration des DCs au travers des vaisseaux lymphatiques et des barrières cellulaires endothéliales in vivo sans interférer avec celle des lymphocytes T et B. Des expériences de migration compétitive et d’ immunisation active avec des DCs myéloïdes démontrent que la migration des DCs est dépendante de l’expression du CD47 sur les DCs et non sur les cellules endothéliales. Ce défaut de migration est corrélé avec l’absence de DCs spléniques dans la zone marginale chez nos souris CD47-/-. Notre second objectif était de déterminer le rôle de CD47 dans l’homéostasie et la fonction des Tregs. Nous démontrons que l’expression du CD47 contrôle sélectivement l’homéostasie d’une sous-population de Tregs CD103+ à l’état de base. La proportion de cellules activées/mémoires (CD44hi CD62Llo ) Foxp3+ CD103+ augmente rapidement au cours du vieillissement chez nos souris CD47-/- comparée aux souris CD47+/+ du même âge, tandis que le pourcentage de cellules (CD44loCD62Lhi) Foxp3+ CD103- reste comparable entre les deux souches de souris. En conclusion, le CD47 inhibe la prolifération excessive des Tregs CD103+ empêchant ainsi l’accumulation de ces cellules en absence d’inflammation. Les DCs et les Tregs sont étroitement régulées de manière reciproque. Cette régulation croisée contribue au maintien d’un équilibre entre l’immunité protectrice et la tolérance. La perspective de nos travaux est d’approfondir nos connaissances sur le rôle du CD47 et de ses ligands dans la régulation des DCs par les Tregs et vice et versa. Les DCs et les Tregs étant impliqués dans la pathogenèse de multiples maladies telles que le cancer, les maladies infectieuses et les maladies auto-immunes. Par conséquent, nos études pourraient ouvrir des portes à de nouvelles stratégies thérapeutiques.Previous work in the laboratory have demonstrated the role of CD47 in the function of dendritic cells and in the induction of regulatory T cells in humans. Here, we show that the ubiquitous self-marker CD47 selectively regulates DC, but not T and B cell trafficking across lymphatic vessels and endothelial barriers in vivo. Competitive DC migration assays and active immunization with myeloid DCs demonstrate that CD47 expression is required on DCs but not on the endothelium and not vice and versa for efficient DC trafficking and T-cell responses. This migratory defect correlates with the quasi-disappearance of splenic marginal zone DCs in non manipulated CD47-deficient mice. Our data reveal that CD47 on DCs is a critical factor in controlling migration and efficient initiation of the immune response. Mutual or reciprocal regulation exists between DCs and Tregs. For instance, DCs efficiently induce Tregs in vivo. We here examine how CD47 deficiency that selectively decrease myeloid DCs impact on Treg homeostasis. We here show that CD47 expression, selectively regulated CD103+Foxp3+ Treg homeostasis. The proportion of effector/memory-like (CD44highCD62Llow) CD103+ Foxp3+ Tregs rapidly augmented with age in CD47-deficient mice (CD47-/-) as compared with age-matched control littermates. Yet, the percentage of quiescent (CD44lowCD62Lhigh) CD103-Foxp3+ Tregs remained stable. Thus, sustained CD47 expression throughout life is critical to avoid an excessive expansion of CD103+ Tregs that may overwhelmingly inhibit Ag specific T cell responses. DCs and Tregs are closely regulated to maintain the balance between protective immunity and tolerance. When that balance is broken, several diseases such as cancer, infectious diseases and autoimmune diseases may develop. Our ultimate goal is to understand how CD47 regulates DCs and Tregs function. Manipulation of the two cells types may open to the door to unexplored therapeutic avenues

Quality comparison of Y-shape joints by tube hydroforming with and without counterforce

The design capability, strength, and structural rigidity provided by tube hydroforming (THF) are successfully used in many applications to produce high-strength parts and assemblies with improved mechanical properties, optimized service life, and weight features. In tubular metal forming, output parameters such as branch height, distribution of tube wall material thickness, distribution of damage factor, metal flow, effective stress, and effective strain significantly affect the quality of the product after the forming process. Therefore, this paper aims to evaluate the manufacturing quality of Y-shape joints from AISI304 material steel tube through output parameters of THF process with and without counter punch force on numerical simulation base. The Finite Element Method (FEM) has become an established feature of metal forming technology. The objective of FEM is to replace costly and elaborate experimental testing with fast, low-cost computer simulation. The simulation study uses finite element method-based virtual prototyping techniques to characterize output parameters, gain insight into strain mechanics, and predict mechanical properties of shaped components. The research results are presented clearly and unambiguously through the evaluation of 7 criteria to compare the quality of the specimens hydroformed by two surveyed cases and optimize the crucial input process parameters. And these data can be applied in experiments, more efficient product and process design, calculation, and control of input parameters avoiding costly trial and error in industrial production. The findings can help technologists optimize process parameters in the hydroforming process of products with protrusion from a tubular blan

Mechanical response of outer frames in tuning fork gyroscope model with connecting diamond-shaped frame

In tuning fork micro-gyroscopes, two outer frames are connected by using the linking elements. The driving vibrations of the two outer frames are required to be exactly opposite to generate the opposite sensing modes perpendicular to driving direction. These opposite driving vibrations are provided by a mechanical structure named the diamond-shaped frame. This paper presents mechanical responses of two outer frames in a proposed model of tuning fork gyroscope when an external force with different types is applied to them. The results show that the presence of a diamond-shaped frame guarantees the absolute anti-phase mode for the driving vibrations of outer frames

A Robust Mobile Robot Navigation System using Neuro-Fuzzy Kalman Filtering and Optimal Fusion of Behavior-based Fuzzy Controllers

This study proposes a control system model for mobile robots navigating in unknown environments. The proposed model includes a neuro-fuzzy Extended Kalman Filter for localization task and a behaviorbased fuzzy multi-controller navigation module. The neuro-fuzzy EKF, used for estimating the robot’s position from sensor readings, is an enhanced EKF whose noise covariance matrix is progressively adjusted by a fuzzy neural network. The navigation module features a series of independently-executed fuzzy controllers, each deals with a specific navigation sub-task, or behavior, and a multi-objective optimizer to coordinate all behaviors. The membership functions of all fuzzy controllers play the roles of objective functions for the optimizer, which produces an overall Pareto-optimal control signal to drive the robot. A number of simulations and real-world experiments were conducted to evaluate the performance of this model

An adaptive hierarchical sliding mode controller for autonomous underwater vehicles

The paper addresses a problem of efficiently controlling an autonomous underwater vehicle (AUV), where its typical underactuated model is considered. Due to critical uncertainties and nonlinearities in the system caused by unavoidable external disturbances such as ocean currents when it operates, it is paramount to robustly maintain motions of the vehicle over time as expected. Therefore, it is proposed to employ the hierarchical sliding mode control technique to design the closed-loop control scheme for the device. However, exactly determining parameters of the AUV control system is impractical since its nonlinearities and external disturbances can vary those parameters over time. Thus, it is proposed to exploit neural networks to develop an adaptive learning mechanism that allows the system to learn its parameters adaptively. More importantly, stability of the AUV system controlled by the proposed approach is theoretically proved to be guaranteed by the use of the Lyapunov theory. Effectiveness of the proposed control scheme was verified by the experiments implemented in a synthetic environment, where the obtained results are highly promising. © 2021 by the authors. Licensee MDPI, Basel, Switzerland. **Please note that there are multiple authors for this article therefore only the name of the first 5 including Federation University Australia affiliate “Linh Nguyen" is provided in this record*

An object-oriented design method to implement the mechatronic system control by using hybrid automata and real-time UML

In this paper, we present a method, which is based on hybrid automata and Real-Time Unified Modeling Language (UML) to analyze and design the control parts of mechatronic systems with input or output events and signals in order to effectively gather their structure and behaviour. We introduce step-by-step analysis and design activities of a controlled mechatronic system such as the specification of its hybrid automaton and realization hypotheses, the identification of object collaborations of this system, the identification of main control capsules, their ports and communication protocols, with their static and dynamic links. These activities are conducted by specializing the iterative life cycle of system development. Then, we indicate important hypotheses, which allow all the identified capsules of this system to make their evolutions. We apply this method to develop an Electro-Hydraulic Governor (EHG) system, which allows the frequency of an electro-hydraulic station to be stabilized