Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles

This paper investigates the development of a new guidance algorithm for a formation of unmanned aerial vehicles. Using the new approach of bifurcating potential fields, it is shown that a formation of unmanned aerial vehicles can be successfully controlled such that verifiable autonomous patterns are achieved, with a simple parameter switch allowing for transitions between patterns. The key contribution that this paper presents is in the development of a new bounded bifurcating potential field that avoids saturating the vehicle actuators, which is essential for real or safety-critical applications. To demonstrate this, a guidance and control method is developed, based on a six-degreeof-freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved

Multichannel blind deconvolution using a generalized Gaussian source model

In this paper, we present an algorithm for the problem of multi-channel blind deconvolution which can adapt to un-known sources with both sub-Gaussian and super-Gaussian probability density distributions using a generalized gaussian source model. We use a state space representation to model the mixer and demixer respectively, and show how the parameters of the demixer can be adapted using a gradient descent algorithm incorporating the natural gradient extension. We also present a learning method for the unknown parameters of the generalized Gaussian source model. The performance of the proposed generalized Gaussian source model on a typical example is compared with those of other algorithm, viz the switching nonlinearity algorithm proposed by Lee et al. [8]. © Association for Scientific Research

Performance of self-compacting concrete cast in hot weather conditions

This work focused on how self-compacting concrete (SCC) performs in situ in hot weather conditions at an ambient temperature of about 35°C. Tests for the rheological properties and compressive and splitting tensile strength aspects were carried out. The results of SCC mix ingredients on the rheological and hardened features of SCC mix were studied. Variations in the amount of portland cement content (CC), water to cement ratio (w/c), coarse to fine aggregate ratio (C : F), chemical admixture ratio, and pozzolanic admixture ratio were considered. Optimum values were obtained for these ingredients, which satisfied the SCC rheological characteristics and gave a 28-day compressive strength of 42 MPa, and 52 MPa after 28 days and 56 days, respectively. These optimum constituent values were 450 kg·m–3 of cement, 0.45 water cementitious ratio, and a coarse to fine material ratio of 1 : 0.8, a high range superplasticizer of 2%, and a mineral admixture of either 5% silica fume or 25% fly ash as a substitute for a similar amount cement

Proučavanje relativističke tvorbe hadrona prema naprijed i unatrag u sudarima 3he i 4he s jezgrama u emulziji na energiji ubrzivača u dubni

The experimental results on 3He- and 4He-emulsion interactions accompanied by relativistic (shower) hadrons flying into the backward (θlab ≤ 90◦ ) hemisphere at 4.5 AGeV/c are presented and analyzed. The dependence of the probabilities of these interactions on the different target sizes, impact parameter and projectile spectator charges is studied. An investigation of average values and multiplicity distributions of these hadrons for the interactions with light and heavy emulsion nuclei has been carried out. In addition, the correlations between the multiplicities of different types of the emitted particles are studied. The data show that backward shower particles are a sensitive target parameter. The values of impact parameters can be used as good indicators for selecting events which occured with light or heavy emulsion nuclei. A comparison with the modified cascade model shows a good performance in describing the data produced in the region having less cascading (i.e. interactions with light nuclei). As for the interactions with heavy nuclei, the model overestimates the experimental data.Predstavljamo eksperimentalne rezultate i analize mjerenja međudjelovanja 3He i 4He u emulziji na 4.5 AGeV/c, u kojima se opažaju relativistički pljuskovi hadrona koji lete unatrag (θlab ≤ 90◦ ). Proučavamo ovisnost vjerojatnosti tih međudjelovanja o veličini jezgre mete, sudarnom parametru i naboju projektila-promatrača. Istražili smo prosječne vrijednosti i raspodjele višestrukosti hadrona za lake i teške jezgre u emulziji. Nadalje, proučavali smo korelacije višestrukosti različitih izlaznih čestica. Podaci pokazuju da su pljuskovi čestica unatrag osjetljiv parametar jezgri mete. Vrijednosti parametara mogu poslužiti kao dobar pokazatelj sudara s lakim odnosno teškim jezgrama. Usporedba s promijenjenim kaskadnim modelom pokazuje dobro slaganje s podacima u kojima je manje kaskada (tj. Manje sudara s lakim jezgrama). Rezultati tog modela za teške jezgre veći su od eksperimentalnih podataka

Proučavanje relativističke tvorbe hadrona prema naprijed i unatrag u sudarima 3he i 4he s jezgrama u emulziji na energiji ubrzivača u dubni

The experimental results on 3He- and 4He-emulsion interactions accompanied by relativistic (shower) hadrons flying into the backward (θlab ≤ 90◦ ) hemisphere at 4.5 AGeV/c are presented and analyzed. The dependence of the probabilities of these interactions on the different target sizes, impact parameter and projectile spectator charges is studied. An investigation of average values and multiplicity distributions of these hadrons for the interactions with light and heavy emulsion nuclei has been carried out. In addition, the correlations between the multiplicities of different types of the emitted particles are studied. The data show that backward shower particles are a sensitive target parameter. The values of impact parameters can be used as good indicators for selecting events which occured with light or heavy emulsion nuclei. A comparison with the modified cascade model shows a good performance in describing the data produced in the region having less cascading (i.e. interactions with light nuclei). As for the interactions with heavy nuclei, the model overestimates the experimental data.Predstavljamo eksperimentalne rezultate i analize mjerenja međudjelovanja 3He i 4He u emulziji na 4.5 AGeV/c, u kojima se opažaju relativistički pljuskovi hadrona koji lete unatrag (θlab ≤ 90◦ ). Proučavamo ovisnost vjerojatnosti tih međudjelovanja o veličini jezgre mete, sudarnom parametru i naboju projektila-promatrača. Istražili smo prosječne vrijednosti i raspodjele višestrukosti hadrona za lake i teške jezgre u emulziji. Nadalje, proučavali smo korelacije višestrukosti različitih izlaznih čestica. Podaci pokazuju da su pljuskovi čestica unatrag osjetljiv parametar jezgri mete. Vrijednosti parametara mogu poslužiti kao dobar pokazatelj sudara s lakim odnosno teškim jezgrama. Usporedba s promijenjenim kaskadnim modelom pokazuje dobro slaganje s podacima u kojima je manje kaskada (tj. Manje sudara s lakim jezgrama). Rezultati tog modela za teške jezgre veći su od eksperimentalnih podataka

Addressing Recruitment Challenges in the Engage-HU Trial in Young Children with Sickle Cell Disease

Background: Sickle cell disease (SCD) is a genetic disorder that causes significant medical and neurologic morbidity in children. Hydroxyurea (HU) is the primary medication used to prevent these complications. National Heart, Lung, and Blood Institute (NHLBI) guidelines recommend offering HU to children as young as 9 months of age with SCD (HbSS or HbSB0 thalassemia) using a shared decision-making approach. Although HU has proven efficacious it remains underutilized and caregivers report that they are not always actively involved in the decision to initiate this therapy. Reasons for limited HU uptake likely include lack of clinician knowledge and training and negative caregiver perceptions. Thus, we developed the Engage-HU trial as a novel approach to address HU utilization barriers. A critical consideration for this trial was that SCD primarily affects individuals of African and Hispanic/Latino descent. In these minority populations, intervention trials are sometimes terminated early because of recruitment difficulties related to mistrust of research, caregiver burden, and transportation issues. As such, the Engage-HU trial design included best-practice strategies for recruiting people of color in research. This study describes these strategies, the initial recruitment plan, preliminary recruitment outcomes and strategies, and our procedural adaptations. Study Design and Methods: Engage-HU is a randomized control trial (NCT03442114) to assess how clinicians can engage caregivers in a shared discussion that considers their values and preferences and includes evidence that supports HU. Engage-HU compares two dissemination methods for clinicians to facilitate shared decision-making with caregivers of young children with SCD: 1) the American Society of Hematology Pocket Guide, and 2) the HU Shared-Decision Making (H-SDM) Toolkit. The study aims to recruit 174 caregivers and evaluate the effectiveness of the dissemination methods on patient-centered outcomes (caregiver confidence in decision-making and perceptions of experiencing shared decision-making) as well as HU uptake and child health outcomes. Eligible children are aged 0 to 5 years, candidates for HU, and their caregiver has not made a decision about HU in the past 3 months. The trial is being conducted at 9 sites in the United States and uses a stepped-wedge design. Data will be analyzed based on the intent-to-treat principle. All participants will remain in the arm of the study to which they were randomized, regardless of whether or not they receive the assigned dissemination method. The primary endpoints are caregiver decisional uncertainty and caregiver perception of shared decision-making measured using validated tools. Data will be analyzed using a linear mixed effects regression model with a robust variance estimator and maximum likelihood estimation with observations clustered within site. The Engage-HU trial includes adaptations to increase recruitment such as tailored messaging, a relational recruitment approach, streamlined data collection, and a Stakeholder Advisory Committee. However, even with these adaptations, the first 6-months of the trial yielded lower than anticipated recruitment. Rather than terminate the trial or accept low enrollment, the research team implemented a series of recruitment strategies to address barriers including helping to improve research coordinator knowledge of the study purpose and adjusting no-show and follow-up procedures (e.g., calls to families after missed appointments and reminder calls before appointments). Site clinicians and clinic staff were provided with additional training so they could give more context about Engage-HU to caregivers and the study principal investigator led monthly "all coordinator" calls to provide support by sharing updates and experiences about successful recruitment. Implementation of these strategies resulted in triple the number of enrollments over the next 7-months compared to the previous 6-months (Table 1). Our goal in sharing this information is to provide lessons learned that can be implemented in future trials with the systematically underserved SCD population. It is also anticipated that methods described here may also inform clinical approaches to better engage caregivers of young children around critical clinical conversations, such as initiating medications like HU. Disclosures King: Magenta Therapeutics: Membership on an entity's Board of Directors or advisory committees; Bioline: Consultancy; RiverVest: Consultancy; Novimmune: Research Funding; Celgene: Consultancy; Tioma Therapuetics: Consultancy; Amphivena Therapeutics: Research Funding; WUGEN: Current equity holder in private company; Cell Works: Consultancy; Incyte: Consultancy. Smith-Whitley:Prime: Other: Education material; Celgene: Membership on an entity's Board of Directors or advisory committees; Global Blood Therapeutics: Membership on an entity's Board of Directors or advisory committees; Novartis: Membership on an entity's Board of Directors or advisory committees. Neumayr:Emmaus: Consultancy; Bayer: Consultancy; CTD Holdings: Consultancy; Pfizer: Consultancy; ApoPharma: Consultancy, Membership on an entity's Board of Directors or advisory committees; Micelle: Other: Site principal investigator; GBT: Other: Site principal investigator; PCORI: Other: site principal investigator; Novartis: Other: co-investigator; Bluebird Bio: Other: co-investigator; Sangamo Therapeutics: Other; Silarus: Other; Celgene: Other; La Jolla Pharmaceuticals: Other; Forma: Other; Imara: Other; National Heart, Lung, and Blood Institute: Other; Health Resources and Services Administration: Other; Centers for Disease Control and Prevention: Other; Seattle Children's Research: Other. Yates:Novartis: Research Funding. Thompson:Novartis: Consultancy, Honoraria, Research Funding; CRISPR/Vertex: Research Funding; BMS: Consultancy, Research Funding; Baxalta: Research Funding; Biomarin: Research Funding; bluebird bio, Inc.: Consultancy, Research Funding. </jats:sec

Toxic effects of Pb2+ on the growth and mineral nutrition of signal grass (Brachiaria decumbens) and Rhodes grass (Chloris gayana)

Although grasses are commonly used to revegetate sites contaminated with lead (Pb), little is known regarding the Pb-tolerance of many of these species. Using dilute solution culture to mimic the soil solution, the growth of signal grass (Brachiaria decumbens Stapf cv. Basilisk) and Rhodes grass (Chloris gayana Kunth cv. Pioneer) was related to the mean activity of Pb2+ {Pb2+} in solution. There was a 50% reduction in fresh mass of signal grass shoots at 5 mu M {Pb2+} and at 3 mu M {Pb2+} for the roots. Rhodes grass was considerably more sensitive to Pb in solution, with shoot and root fresh mass being reduced by 50% at 0.5 mu M {Pb2+}. The higher tolerance of signal grass to Pb appeared to result from the internal detoxification of Pb, rather than from the exclusion of Pb from the root. At toxic {Pb2+}, an interveinal chlorosis developed in the shoots of signal grass (possibly a Pb-induced Mn deficiency), whilst in Rhodes grass, Pb2+ caused a bending of the root tips and the formation of a swelling immediately behind some of the root apices. Root hair growth did not appear to be reduced by Pb2+ in solution, being prolific at all {Pb2+} in both species

Long-Term Conditioning to Elevated pCO2 and Warming Influences the Fatty and Amino Acid Composition of the Diatom Cylindrotheca fusiformis

The unabated rise in anthropogenic CO2 emissions is predicted to strongly influence the ocean's environment, increasing the mean sea-surface temperature by 4°C and causing a pH decline of 0.3 units by the year 2100. These changes are likely to affect the nutritional value of marine food sources since temperature and CO2 can influence the fatty (FA) and amino acid (AA) composition of marine primary producers. Here, essential amino (EA) and polyunsaturated fatty (PUFA) acids are of particular importance due to their nutritional value to higher trophic levels. In order to determine the interactive effects of CO2 and temperature on the nutritional quality of a primary producer, we analyzed the relative PUFA and EA composition of the diatom Cylindrotheca fusiformis cultured under a factorial matrix of 2 temperatures (14 and 19°C) and 3 partial pressures of CO2 (180, 380, 750 μatm) for >250 generations. Our results show a decay of ∼3% and ∼6% in PUFA and EA content in algae kept at a pCO2 of 750 μatm (high) compared to the 380 μatm (intermediate) CO2 treatments at 14°C. Cultures kept at 19°C displayed a ∼3% lower PUFA content under high compared to intermediate pCO2, while EA did not show differences between treatments. Algae grown at a pCO2 of 180 μatm (low) had a lower PUFA and AA content in relation to those at intermediate and high CO2 levels at 14°C, but there were no differences in EA at 19°C for any CO2 treatment. This study is the first to report adverse effects of warming and acidification on the EA of a primary producer, and corroborates previous observations of negative effects of these stressors on PUFA. Considering that only ∼20% of essential biomolecules such as PUFA (and possibly EA) are incorporated into new biomass at the next trophic level, thepotential impacts of adverse effects of ocean warming and acidification at the base of the food web may be amplified towards higher trophic levels, which rely on them as source of essential biomolecules

Toxicity of Sediment-Associated Pesticides to Chironomus dilutus and Hyalella azteca

Two hundred sediment samples were collected and their toxicity evaluated to aquatic species in a previous study in the agriculturally dominated Central Valley of California, United States. Pyrethroid insecticides were the main contributors to the observed toxicity. However, mortality in approximately one third of the toxic samples could not be explained solely by the presence of pyrethroids in the matrices. Hundreds of pesticides are currently used in the Central Valley of California, but only a few dozen are analyzed in standard environmental monitoring. A significant amount of unexplained sediment toxicity may be due to pesticides that are in widespread use that but have not been routinely monitored in the environment, and even if some of them were, the concentrations harmful to aquatic organisms are unknown. In this study, toxicity thresholds for nine sediment-associated pesticides including abamectin, diazinon, dicofol, fenpropathrin, indoxacarb, methyl parathion, oxyfluorfen, propargite, and pyraclostrobin were established for two aquatic species, the midge Chironomus dilutus and the amphipod Hyalella azteca. For midges, the median lethal concentration (LC50) of the pesticides ranged from 0.18 to 964 μg/g organic carbon (OC), with abamectin being the most toxic and propargite being the least toxic pesticide. A sublethal growth endpoint using average individual ash-free dry mass was also measured for the midges. The no–observable effect concentration values for growth ranged from 0.10 to 633 μg/g OC for the nine pesticides. For the amphipods, fenpropathrin was the most toxic, with an LC50 of 1–2 μg/g OC. Abamectin, diazinon, and methyl parathion were all moderately toxic (LC50s 2.8–26 μg/g OC). Dicofol, indoxacarb, oxyfluorfen, propargite, and pyraclostrobin were all relatively nontoxic, with LC50s greater than the highest concentrations tested. The toxicity information collected in the present study will be helpful in decreasing the frequency of unexplained sediment toxicity in agricultural waterways